As previously reported, the network has given the green light to the project, written by Victor Fresco. The project centers on Hayes, who must balance parenting his 14-year-old daughter, who just moved in, and dealing with a new boss at work. Lavin will play Hayes' mother.
Universal TV and Hayes and Todd Milliner's Hazy Mills will produce the untitled pilot, directed by James Burrows.
Hayes, who will appear in the second season of the NBC musical drama "Smash," starred in the Broadway revival of Promises, Promises.
Lavin, who took home the 1987 Tony Award for her performance in Broadway Bound, was Tony-nominated for her performances in The Lyons, Collected Stories The Tale of the Allergist's Wife, The Diary of Anne Frank and Last of the Red Hot Lovers.