Charlie tweeted a photo of the cast and crew cheering for the former "West Wing" star, along with the caption, "Anger Management Episode 10 Table Read -- Welcome to the set Dad."
Former "Spin City" actor and current "Anger Management" star Michael Boatman also tweeted about Martin's visit. "Had a great scene today with @charliesheen and Martin Sheen! Definitely one of the high points of my career. Anger Management, baby!"
Martin joked with "Extra's" Jerry Penacoli about his guest appearance. "I auditioned for the brother but he thought I was too old." Does he play Charlie's dad on the show? "I did... what else am I going to do?"
In April, Charlie's ex-wife, actress Denise Richards, was cast in an "Anger Management" episode as Charlie's love interest. Richards told "Extra," "I saw a sneak peek of the first episode and it's really funny. I did a table read last week. I play a love interest to my ex-husband."
In the upcoming series, Charlie plays an ex baseball player who becomes a therapist specializing in anger management.
"Anger Management" premieres Thursday, June 28 at 9PM on FX.
"Anger Management" has become a family affair for actor Charlie Sheen, who recently cast his father, Martin Sheen, in the 10th episode of his new FX series.