SERIES PREMIERE: NBC Universal stars travel the world on the company’s dime on “The Getaway” (Esquire Network at 9), which kicks off with Joel McHale hanging out in Belfast.
RETURNING SHOW: Detective Benson is abducted on the two-hour Season 15 opener of “Law & Order: SVU” (NBC at 9), and the team scrambles to find her.
RETURNING SHOW: The team heads to Arizona for a case as “Criminal Minds” (CBS at 9) kicks off Season 9, guest-starring Camryn Manheim.
RETURNING SHOW: Newly crowned Emmy winner “Modern Family” (ABC at 9) is back for Season 5 as Phil and Claire try to organize Haley’s beach trip, Alex’s volunteer mission and Luke’s camp so that all the kids are away at the same time.
SERIES PREMIERE: Competition series “Boundless” (Esquire Network at 10) pits two ultra athletes against each other to travel around the world in five months, competing in eight of the world’s most difficult endurance races.
RETURNING SHOW: “South Park” (Comedy Central at 10) is back for Season 17 with Cartman going up against the National Security Agency, determined to hold the government accountable for secretly monitoring his personal information.
RETURNING SHOW: D.B. Russell leads the group to find Morgan and Ellie Brass after a ritualistic killer kidnaps them on the Season 14 premiere of “CSI” (CBS at 10).
RETURNING SHOW: It’s a grim beginning for Season 2 of “Nashville” (ABC at 10), which finds Rayna in a coma and Deacon waiting on a jail sentence after the duo’s car accident in last season’s finale.
Actor Robin Williams is on “Late Show With David Letterman” (CBS at 11:35) along with musical guests Icona Pop, and an opera Top Ten List presented by soprano Renée Fleming.
“The Tonight Show With Jay Leno” (NBC at 11:35) hosts actor Dana Carvey, reality-show judge CeeLo Green and a performance by Goodie Mob.
Actor Jon Hamm and animal expert Dave Salmoni are guests on “Jimmy Kimmel Live” (ABC at 11:35).
— Emily Yahr