Shark Tank (8pm, ABC) - Redneck millionaire Jeff Foxworthy (left) takes a seat with the Sharks  tonight. Also, Vincent Pastore, who played Big P-, uh, make that Salvatore Bonpensiero on 'The Sopranos,' pitches an idea.

Who Do You Think You Are (8pm, NBC) - In the second season finale, actress Ashley Judd explores her ancestry, zeroing in on her colorful paternal great grandmother and finding connections to the Union Army and America's first settlers.

Blue Bloods (10pm, CBS) - Linda's runway-model niece and a reporter are poisoned at a fashion show. Designer Marc Bouwer appears as himself.

Merlin (10pm, Syfy) - The Season 3 finale finds Camelot crumbling under the control of Queen Morgana and Morgause's immortal army. While Arthur, Lancelot, Elyan, and Percival prepare for a counterattack, Merlin rushes to retrieve the Excalibur sword from the Lake of Avalon. This season finale leaves you more time to watch ...

Camelot (10pm, Starz) - Arthur's pursuit of Guinevere proves unrewarding. Also, Leontes and Kay recruit a new warrior they believe they can trust, and Arthur and Merlin contemplate a dinner invitation to Morgan's castle.

Real Time with Bill Maher (10pm, HBO) - Guests are Colin Quinn, Katty Kay, Eliot Spitzer, and Andrew Sullivan.

Whatever, You're So Wrong (11pm, Hallmark) - Martha Stewart's daughter Alexis Stewart and Jennifer Koppelman Hutt in a new late night talk show where they tackle topics about everyday life as well as serious issues. The third season of 'Whatever, Martha!' (also with Alexis and Jennifer) debuts at 11:30pm. In that show, the two women basically critique old Martha Stewart episodes (and make fun of Martha herself).

It's interesting that there's a Kennedy family mini-series starting the same weekend as "Camelot" (Starz, 10 tonight).

Besides sharing the whole Arthurian motif, the two stories share an allure for filmmakers who like to try to retell the stories every couple of years.

I don't know about the latest take on the Kennedys, but "Camelot" is pretty good, a sometimes trying-too-hard-to-be serious, brooding moody take on the legend with some nicely played performances.

CHAOS (8pm, CBS) - The pilot episode of a new light drama about CIA spies who combat threats to national security. It stars Freddy Rodriguez ('Six Feet Under') and Eric Close ('Cold Case').

Who Do You Think You Are? (8pm, NBC) - Gwyneth Paltrow traces her roots, centering her investigation on her paternal grandfather. She also digs up info on her mother's (Blythe Danner) side and discovers an ancestral connection to the island of Barbados.

Camelot (10pm, Starz) - A new historical drama chronicling the storied Arthurian legend. In this first episode, King Uther dies, leaving young commoner Arthur (Jamie Campbell Bower) as heir to the throne of England, where he is championed by the wizard Merlin (Joseph Fiennes) but destined to tangle with his evil half sister, the sorceress Morgan (Eva Green). There's a second episode at 11pm in which Arthur meets Guinevere (Tamsin Egerton), the woman of his dreams. Meanwhile, Morgan and King Lot conspire to attack Camelot and take the throne. Read our review here. For another take on the Arthur/Merlin saga, there's ....

Merlin (10pm, Syfy) - This BBC fantasy series on the Authurian legends of Merlin is in its third season on Syfy. Tonight's episode is the first of a two-part story in which Arthur and Merlin are captured by a slave trader while trying to retrieve the Cup of Life, a magical goblet that can give the gift of immortality through magical means.

Blue Bloods (10pm, CBS) - Danny's wife is kidnapped to prevent him from testifying against a Peruvian drug lord who's on trial for a murder that Danny witnessed.

The Soup Awards (10pm, E!) - Joel McHale honors unintentionally funny people and moments in pop culture.