Winkler first announced on Twitter on Friday (August 31) that he would return to the reunion season as the Bluth family's corrupt lawyer Barry Zuckerkorn.
He tweeted: "I am supposed to be memorizing an Arrested Development scene with Maybe for today… Don't tell anyone I was here OK?????"
Winkler then shared an image over the weekend of himself on the Arrested Development set with Baio, whose character Bob Loblaw replaced Zuckerkorn as the Bluth lawyer in later episodes.
"Oh my goodness … What a Development !!!!!!!" he quipped in the caption.
Ron Howard previously revealed that he will make an on-camera cameo appearance in Arrested Development's new season. Judy Greer – who played Kitty Sanchez – has also confirmed she will return as well.
Mad Men star John Slattery is also joining the cast for multiple episodes.
Arrested Development streams its fourth season on Netflix in the UK and the US in 2013.
Watch Henry Winkler in a clip from Arrested Development below: