With its baffling title and audacious set, “The Book of David: The Cult Figure’s Manifesto Starring David Alan Grier” (9 p.m., Comedy Central) starts out as one of the most ambitious and high-concept comedy performances in years.

At his best, the “In Living Color” veteran is dazzling. But at least 30 percent of his material may be too raunchy for some, and his concluding joke is so pointlessly vulgar it almost spoils the whole evening.

• Fred Savage has come a long way since “The Wonder Years.” Tonight on “Law & Order: Special Victims Unit” (9 p.m., NBC), he plays an accused rapist who continues to stalk his victims even after his arrest.

Except for one brief courtroom tantrum, Savage’s character maintains his cool as he professes his innocence. It’s a nicely balanced performance and a dramatic stretch for the once-cuddly child star.

Tonight’s other highlights

• Past contestants get a chance to compete on a two-hour edition of “America’s Most Talented Kid” (7 p.m., NBC).
• Beyonce Knowles and Mekhi Phifer star in the made-for-TV musical “Hip Hopera: Carmen” (7 p.m., MTV), loosely based on Bizet’s opera.
• Mike feels pressure to rat out Marcellus on the first episode of the two-part season finale of “Hack” (8 p.m., CBS).
• Scheduled on “20/20” (9 p.m., ABC): Britain’s premier tabloid couple Victoria (“Posh Spice”) and soccer star David Beckham discuss the kidnapping attempt on their children.