"Galavant" stars Joshua Sasse as Galavant, Timothy Omundson as King Richard, Vinnie Jones as Gareth, Mallory Jansen as Madalena, Karen David as Isabella and Luke Youngblood as Sid.

The series will premiere with back-to-back episodes in the 8 PM slot. 

Click here to read the Playbill.com feature in which Menken and Dan Fogelman discuss its creation.

"Galavant" is written by Dan Fogelman, who also serves as executive producer. Executive producers also include Alan Menken, Glenn Slater and Chris Koch. "Galavant" is directed by Chris Koch. Abbey C Studios Ltd. produces "Galavant" for ABC Studios.

Here's how it's billed by ABC: "Screenwriter/executive producer Dan Fogelman ('Crazy, Stupid, Love,' 'Tangled,' 'Cars') teams up with Broadway and Hollywood award-winning musical team — composer Alan Menken ('The Little Mermaid,' 'Aladdin,' 'Beauty and the Beast') and lyricist Glenn Slater ('Tangled')—for a musical comedy fairytale of epic proportions. Once upon a time, the dashing hero, Galavant (Joshua Sasse), lost the love of his life, Madalena (Mallory Jansen), to the evil King Richard (Timothy Omundson). Now, our fallen hero is ready to take revenge and restore his 'happily ever after.' But it won't be without a few twists and turns along the way."

Screenwriter/executive producer Fogelman discusses the show, and Menken previews new music:

Menken sings a medley of his songs, including "Beauty and the Beast," "Under the Sea," "Colors of the Wind" and "A Whole New World":

The characters of Galavant (Joshua Sasse), Isabella (Karen David) and Sid (Luke Youngblood) sing about traveling together:

Watch a musical clip from "Galavant," where Madalena (Mallory Jansen) realizes that she can only count on herself: