On the penultimate episode of “The Bachelorette” (ABC at 8 p.m.), Desiree takes her final three guys for a romantic weekend in Antigua as she tries to narrow down her choice during dates that involve a helicopter ride and a drive along the island’s coast.

Bay and Emmett work together to organize a Deaf Day at a local amusement park on “Switched at Birth” (ABC Family at 8), while Daphne has an unfortunate run-in with her ex, Chef Jeff.

Speaking of helicopters, what could be more fun than riding in one without doors? That’s what the competitors face on “Get Out Alive With Bear Grylls” (NBC at 9), and they follow up that challenge by climbing a waterfall.

The documentary “First Comes Love” (HBO at 9) chronicles the life of filmmaker Nina Davenport, a single 40-something in New York, as she decides to have a baby via a sperm donor. While going through the process, she also copes with the death of her mother.

SERIES PREMIERE: If you’re one of those people obsessed with TV’s behind-the-scenes world, here’s the perfect show for you: “The Writers’ Room” (Sundance at 10), a six-episode series airing every Monday night, spotlights the creative minds behind some of the buzziest shows on TV, starting with AMC’s “Breaking Bad.”

The town on “Under the Dome” (CBS at 10) continues to fall apart as residents run out of water and battle over limited resources; meanwhile, Julia discovers a strange connection between two dome residents.

At first, it’s easy to shrug off the case of a missing cellphone — but soon after they start investigating, the crime-solving duo on “King & Maxwell” (TNT at 10) realize the situation is much more complicated.

Joss and Savi aren’t thrilled when their “eccentric” mother shows up to visit on “Mistresses” (ABC at 10), and in scarier news, Karen thinks Elizabeth might have killed Tom after she found out he was cheating.

Actor Denzel Washington is on “The Late Show With David Letterman” (CBS at 11:35), along with singer James McCartney.

“The Tonight Show With Jay Leno” (NBC at 11:35) hosts actress Kristen Bell and “American Idol” winner Phillip Phillips.

Actor Neil Patrick Harris, Los Angeles Dodgers pitcher Clayton Kershaw and musical guest Pepper visit “Jimmy Kimmel Live” (ABC at 11:35), as Kimmel returns for the first show after his wedding.

— Emily Yahr