Lucy Lawless will guest star on "Parks & Recreation."

"I am so thrilled to work with the #ParksandRecreation crew," Lawless tweeted. "I am always amazed by the Acting and writing. It's kooky, ironic and elegant."

According to NBC, the former "Xena: Warrior Princess" star will play a single mom in Pawnee on the NBC comedy and is currently scheduled to appear in two episodes of Season 5. In her story arc, Ron (Nick Offerman) and Andy (Chris Pratt) are dispatched to help her and sparks fly between Lawless' character and Ron. USA Today reports Lawless' character, Diane, will make her first appearance in the Thurs., Oct. 4 episode.

In February, Lawless told The Huffington Post she'd love to guest star on "Parks & Recreation." In fact, she almost played one of Ron Swanson's (Nick Offerman) ex-wives, Tammy.

"I couldn't because I was doing 'Spartacus.' I would have loved to have done that, but I had a very good excuse not to," she said with a laugh.

"Parks and Recreation" Season 5 premieres on Thursday, September 20 at 9:30 p.m. ET on NBC.

In other casting news ...

Enrique Murciano and Wendy Moniz have booked extended stays on "666 Park Avenue." Murciano will play Dr. Todd Scott, a surgeon living at The Drake. Moniz will play Ingrid, the therapist to Nona (Samantha Jade Logan). [TV Guide]

"Angels & Demons" veteran Ayelet Zur will guest star on "Touch." Zur will play Rosemary Mathis, an architect with special talents, like Jake. [TVLine]

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    Aziz Ansari as Tom Haverford, Jim O'Heir as Associate Director Jerry Gergich, Rob Lowe as Chris Traeger, Adam Scott as Ben Wyatt

  • "Two Parties"

    Chris Pratt as Andy, Jim Irsay, Rob Lowe as Chris Traeger

  • "Two Parties"

    Chris Pratt as Andy, Nick Offerman as Ron Swanson, Adam Scott as Ben Wyatt

  • "Two Parties"

    Chris Pratt as Andy

  • "Two Parties"

    Jim O'Heir as Jerry Gergich

  • "Two Parties"

    Adam Scott as Ben Wyatt

  • "Two Parties"

    Newt Gingrich, Jim O'Heir as Jerry Gergich

  • "Two Parties"

    Newt Gingrich

  • "Two Parties"

    Aziz Ansari as Tom Haverford, Chris Pratt as Andy, Jim O'Heir as Jerry Gergich, Adam Scott as Ben Wyatt, Rob Lowe as Chris Traeger, Nick Offerman as Ron Swanson

  • "Two Parties"

    Adam Scott as Ben Wyatt, Nick Offerman as Ron Swanson, Aziz Ansari as Tom Haverford

  • "Two Parties"

    Rashida Jones as Ann Perkins, Amy Poehler as Leslie Knope, Retta as Donna Meagle

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    Aubrey Plaza as April Ludgate, Amy Poehler as Leslie Knope

  • "Two Parties"

    Amy Poehler as Leslie Knope

  • "Two Parties"

    Amy Poehler as Leslie Knope

  • "Ron & Diane"

    Nick Offerman as Ron Swanson, Amy Poehler as Leslie Knope.

  • "Ron & Diane"

    Christie Brinkley as Gayle.

  • "Ron & Diane"

    Christie Brinkley as Gayle, Sarah Wright as Millicent, Peter Porte as Carl.

  • "Ron & Diane"

    Amy Poehler as Leslie Knope, Megan Mullally as Tammy 2

  • "Ron & Diane"

    Amy Poehler as Leslie Knope

  • "Ron & Diane"

    Lucy Lawless as Diane, Nick Offerman as Ron Swanson, Amy Poehler as Leslie Knope, Megan Mullally as Tammy 2.

  • "Ron & Diane"

    Megan Mullally as Tammy 2

  • "Ron & Diane"

    Amy Poehler as Leslie Knope, Nick Offerman as Ron Swanson.

  • "Pawnee Commons"

    Amy Poehler as Leslie Knope, Adam Scott as Ben Wyatt, Brad Hall as Wreston St. James

  • "Pawnee Commons"

    Amy Poehler as Leslie Knope, Adam Scott as Ben Wyatt, Brad Hall as Wreston St. James

  • "Pawnee Commons"

    Amy Poehler as Leslie Knope

  • "Pawnee Commons"

    Amy Poehler as Leslie Knope, Adam Scott as Ben Wyatt, Brad Hall as Wreston St. James

  • "Pawnee Commons"

    Amy Poehler as Leslie Knope, Adam Scott as Ben Wyatt

  • "Pawnee Commons"

    Adam Scott as Ben Wyatt, Amy Poehler as Leslie Knope

  • "Pawnee Commons"

    Adam Scott as Ben Wyatt, Amy Poehler as Leslie Knope

  • "Pawnee Commons"

    Amy Poehler as Leslie Knope

  • "Leslie vs. April"

    Adam Scott, Joe Biden and Amy Poehler

  • "Leslie vs. April"

    Vice President Joe Biden and Amy Poehler

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    Vice President Joe Biden, Chris Pratt, Mike Schur Amy Poehler and Adam Scott

  • "Leslie vs. April"

    Vice President Joe Biden and Amy Poehler

  • "Leslie vs. April"

    Vice President Joe Biden and Amy Poehler

  • "Leslie vs. April"

    Aziz Ansari as Tom Haverford, Nick Offerman as Ron Swanson

  • "Leslie vs. April"

    Nick Offerman as Ron Swanson

  • "Leslie vs. April"

    Amy Poehler as Leslie Knope, Aubrey Plaza as April Ludgate

  • "Leslie vs. April"

    Amy Poehler as Leslie Knope

  • "Leslie vs. April"

    Amy Poehler as Leslie Knope

  • "Leslie vs. April"

    Aubrey Plaza as April Ludgate, Amy Poehler as Leslie Knope and Rashida Jones as Ann Perkins

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    Aubrey Plaza as April Ludgate, Rashida Jones as Ann Perkins and Amy Poehler as Leslie Knope

  • "Ben's Parents"

    Nick Offerman as Ron Swanson, Ben Schwartz as Jean-Ralphio

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    Rob Lowe as Chris Traeger, Retta as Donna Meagle

  • "Halloween Surprise"

    Nick Offerman as Ron Swanson

  • "Halloween Surprise"

    Lucy Lawless as Diane, Nick Offerman as Ron Swanson

  • "Halloween Surprise"

    Amy Poehler as Leslie Knope

  • "Halloween Surprise"

    Rashida Jones as Ann Perkins, Amy Poehler as Leslie Knope

  • "Halloween Surprise"

    Aziz Ansari as Tom Haverford, Nick Offerman as Ron Swanson, Aubrey Plaza as April Ludgate, Chris Pratt as Andy

  • "Halloween Surprise"

    Amy Poehler as Leslie Knope

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    Adam Scott as Ben Wyatt

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