Tom Selleck, the taciturn star of the popular CBS “Jesse Stone” movie franchise, returns to a regular series in “Blue Bloods” (9 p.m., CBS), a police drama where he doesn’t so much star as preside, like a family patriarch or a bronze bust.

He’s Frank Reagan, the New York City police commissioner, the son of a police commissioner and the widowed father of at least three cops, one dead. Donnie Wahlberg plays Danny Reagan, a hothead cop used to breaking the rules and fuming Sonny Corleone-style because he cares so darn much. His younger brother, Jamie (Will Estes), has joined the force by way of Harvard Law School, a bit of a surprise to everybody, including his startled fiancee.

Bridget Moynahan rounds out the cast as Erin Reagan Boyle, their soon-to-be-divorced lawyer sister who bickers with Danny about legal niceties like due process and constitutional rights. Not that Erin is a pushover. She’s the first to admit that she’d shoot the bad guys if she could. But Danny’s lack of finesse often lets the bad guys go free on technicalities, so it’s better to follow the rules.

Following, and breaking, the rules looms large as the pilot concludes its introduction of the main characters and a chase for a missing kidnapped child, notable for Danny’s tenacity and the arrival of a few lucky breaks. Less than 24 hours out of the academy, Jamie is approached by a super secret task force, an investigatory agency unknown to even his dad, the commissioner. Something’s up, and it might involve his dead brother. Or his living brother? Maybe even his dad or his granddad. Could the family dog be in danger?

It’s interesting to note that 9 p.m. on Fridays — the slowest hour of a slow night — has now become a ratings smackdown between Tom Selleck and Jimmy Smits, star of “Outlaw.” Can “Magnum P.I.” beat “L.A. Law”? Both actors are great TV stars. It’s Selleck, the strong, silent type versus Smits, the gabby do-gooder with a weakness for the cards and the ladies.

Perhaps there’s a political angle here as well. “Outlaw” wears its liberalism on its sleeve. Selleck has long extolled conservative causes. And his character is named Reagan.

• Having won young audiences with “High School Musical” and “Hannah Montana,” the Disney Channel returns to cartoon comedy with “Fish Hooks” (8 p.m., Disney), an animated fantasy about three fishy high school students named Milo, Oscar and Bea. The editor of the yearbook appears to be some kind of bossy clam. One of them better study for law school, because I have a feeling “SpongeBob” could slap them with a plagiarism suit.

Tonight’s season premieres

• Allison and Bridgette share dreams and swap lives on “Medium” (7 p.m., CBS).

• John Schneider returns to “Smallville” (7 p.m., CW).

• Murder in the crime lab on “CSI:NY” (8 p.m., CBS).

• Sloppy work results in suspension on “The Good Guys” (8 p.m., Fox).

• Mitch Pileggi (“X Files”) returns to “Supernatural” (8 p.m., CW).

Tonight’s other highlights

• The legal drama “The Whole Truth” (8 p.m., ABC) examines a trial from both side’s perspectives. Smarter than the average fare.

• Garza becomes em-broiled in an explosive immigration case in Arizona on “Outlaw” (9 p.m., NBC).

• Scheduled on “20/20” (9 p.m., ABC): a conwoman/ femme fatale who seduces servicemen and drains their bank accounts.