From ABC comes a new kind of police drama.

Richard Castle (Nathan Fillian of "Firefly") is the best-selling author of mystery novels. Castle has recently killed off his popular main character in order to write a new series of crime novels, this time about a woman detective. In order to get the character just right, he strikes up a deal with the NYPD to let him follow around one of their top detectives, Kate Beckett (Stana Katic) for research and inspiration.

Beckett is unhappy with the whole situation, but begins to relax when Castle uses his penchant for plot twists and his ability for character analysis to help solve the murders she is investigating.

The show draws on the love/hate relationship between Castle and Beckett and is filled with witty banter between the sarcastic, fun-loving author, and the overly serious, but sexy detective.

The show also includes the relationship between Castle and his smart, morally grounded daughter Alexis (Molly Quinn), as well as his live-in, ex-Broadway star mother Martha (Susan Sullivan from "Dharma and Greg").