Guest Stars Jayne Houdyshell as Judge Ruth Linden Jessica Phillips as Assistant D.A. Pippa Cox Yvonna Kopacz Wright as Dr. Darby Wilder Griffin Matthews as Leslie Connolly Dashiell Eaves as Officer Stephanie Kurtzuba as Joan Harris Mina Sundwall as Mia Harris Chloe Csengery as Perry Gilbert Jeanine Bartel as Barbara Gilbert Tricia Paoluccio as Robin Thornhill Will Harris as Charlie Dorsey Oona Laurence as Zoe Harris Co Starring Tony Campisi as Counselor Steve Roth Joanne Baron as Counselor Diane Schwartz Jodie Lynne McClintock as Nancy Earnst Matthew Montelongo as Rick Uncredited Steve Zirnkilton voices Opening Narration