• The wait is over for “NYPD Blue” (9 p.m., ABC) fans. The veteran police drama has been on hiatus since November. The series returns with a bang when a kidnapping victim (William Francis McGuire) with a bomb attached to his body handcuffs himself to Detective McDowell (Charlotte Ross). And what would “Blue” be without a few soapsuds? Jennifer Devlin (Chandra West) wants to split up with Detective Clark (Mark-Paul Gosselaar).
• Brooke Shields (“Suddenly Susan”) appears on “I’m With Her” (7:30 p.m., ABC) as Alex’s former peer, who has fallen from stardom into rehab and B movies. The sitcom, about an ordinary teacher who finds his life upended when he dates a fabulous movie star, was inspired by producer Chris Henchy’s own marriage to Shields.
• The eight-part documentary series “Innovation” (8 p.m., PBS, check local listings) will spend every Tuesday contemplating the future of engineering and technology and those who are making it happen. Tonight’s segment focuses on plans to build the world’s tallest skyscrapers. Projects in Taipei and Shanghai have had to deal with worries arising from the collapse of World Trade Center towers. Subsequent hours will explore development in artificial human body parts, high-tech espionage and the future of warfare.

Tonight’s other highlights

• The voting begins as eight semi-finalists perform on “American Idol” (7 p.m., Fox).
• Jess can’t quite face Rory, but unloads a mouthful of resentment on his uncle on “Gilmore Girls” (7 p.m., WB).
• A sudden windfall on “Will & Grace” (7:40 p.m., NBC).
• Nick and Lulu get some troubling news about their unborn child on “The Guardian” (8 p.m., CBS).
• Chase wants to be included on “24” (8 p.m., Fox).
• After losing his mother, a boy may have to live with his felon father on “Judging Amy” (9 p.m., CBS).
• DNA tests on a murdered girl’s body indicate evidence of incest on “Law & Order: Special Victims Unit” (9 p.m., NBC).
• “Nat Turner” on “Independent Lens” (9 p.m., PBS) looks at the leader of the 1831 slave uprising and the many controversial books, novels and dramas that have tried to tell his story.

Late night

Jack Hanna and Chris Noth appear on “Late Show with David Letterman” (10:35 p.m., CBS) … Jay Leno welcomes Marcia Gay Harden, Zach Braff and Norah Jones on “The Tonight Show” (10:35 p.m., NBC).

Mike Myers and Ron James are booked on “Late Night with Conan O’Brien” (11:35 p.m., NBC) … Sir Ian McKellen and David Stern are on “The Late, Late Show with Craig Kilborn” (11:37 p.m., CBS).