Rob Morrow & Maura Tierney Give Me 'The Whole Truth' On Their New Show (VIDEO)

It feels like Rob Morrow and Maura Tierney have both been on TV for ages, and they've both tackled comedy and drama with equal success -- he on 'Northern Exposure' and 'Numb3rs,' and she on 'NewsRadio' and 'ER.'

That's just one reason why their pairing on 'The Whole Truth' feels like a match made in heaven. Playing two opposing legal sides in a courtroom, both lawyers are sharp, witty and obviously share an interesting past. (The same couldn't be said for the original pilot, which had 'Nip/Tuck' alum Joely Richardson in the female lead role. So happy Maura was available and healthy enough to step in!)

I caught up with Rob and Maura to get their take on this not-always-dramatic legal drama, why it's good that the bad guys sometimes get off, how 'My Cousin Vinny' might help them prep and their phenomenal wishlists for dream guest stars.