Miranda will play the inventor of a new dog-training technique whom Gloria (Sofia Vergara) brings home to meet Jay (Ed O'Neill).
A Tony Award winner for his score to In the Heights, Miranda also created the role of Usnavi in that Tony Award-winning musical, for which he received an additional Tony nomination. He recently co-wrote the score to Bring It On with composer Tom Kitt and lyricist Amanda Green. He has appeared on the TV series "House," "The Sopranos" and "Sex in the City."
"Modern Family" airs Wednesdays at 9 PM ET on ABC.