Arden's first appearance in the recurring role of Joseph will air 8-9 PM ET; check local listings. "Kings," according to press notes, is a "contemporary re-telling of the timeless tale of David and Goliath. This series is an epic story of greed and power, war and romance, forbidden loves and secret alliances — and a young hero who rises to power in a modern-day kingdom."

The series stars Ian McShane as King Silas Benjamin, Chris Egan as David Shepherd, Sebastian Stan as Jack Benjamin, Susanna Thompson as Queen Rose Benjamin and Allison Miller as King Silas' daughter Michelle with Wes Studi, Eamonn Walker and Dylan Baker.

"Kings" is executive-produced by Michael Green, Erwin Stoff and Francis Lawrence, who also directed the show's pilot.

Arden was most recently on Broadway in the Bob Dylan-Twyla Tharp musical The Times They Are A-Changin'. His previous Broadway outing cast him as Tom Sawyer in the Roundabout Theatre Company's presentation of the Deaf West Theatre sign-language production of Big River. Other credits include Ace, Swimming in the Shallows, Bare, Harold & Maude and It's Only Life Off-Broadway. Arden also joined Barbra Streisand during her world concert tour.

"Kings" airs Sundays on NBC at 8 PM ET; for more information visit www.nbc.com/Kings.