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After a highly successful freshman season, "Joan of Arcadia" (8 p.m., CBS) returns with its beguiling title character (played by Emmy nominee Amber Tamblyn) questioning her sanity and expressing some pretty bitter feelings toward God.
A single father (Keith Carradine) has his hands full trying to raise five teenage sons in this new comedy series, "Complete Savages" (8:30 p.m., ABC). The somewhat unruly kids are played by Andrew Eiden, Shaun Sipos, Erik von Detten, Evan Ellingson and Jason Dolley. Mel Gibson is a producer of the series and directed this first episode.
Tom Hanks directs the first installment of "From the Earth to the Moon" (9 p.m., TNT), the 12-part miniseries that originally aired on HBO in 1998. Nominated for 17 Emmy Awards, the series tracks the history of NASA's Apollo space program. Parts one and two air tonight. Episodes three through seven begin Saturday at 5 p.m. The complete miniseries will air Oct. 3 at 9 a.m. Ron Howard, Sally Field and Frank Marshall work behind the scenes.
Rob Lowe, whose "Lyon's Den" didn't last long a year ago, tries again in this new drama series, "Dr. Vegas" (10 p.m., CBS). He plays a doctor who attends to the guests and staff of a fancy Las Vegas casino. Joe Pantoliano is the hotel manager, Tom Sizemore is his deputy and Sarah Lancaster is a beautiful blackjack dealer.
Barbara Walters has landed a doozy for her finale on "20/20" (10 p.m., ABC) anchor finale tonight: Mary Kay Letourneau, the former teacher who had an affair -- and two children -- with a pupil.