"Two and a Half Men"
COMEDY. Miley Cyrus guest stars a woman who makes Walden begin to feel his age, possibly because she's the daughter of his friend, and even more likely because she appears here in lingerie in his bed. Something else he may begin to feel: Like a jerk.
8:30 p.m., CBS
DOCUMENTARY. Despite not giving an interview in more than 20 years, Ethel Kennedy, Robert F. Kennedy's famously private widow, agreed to be the subject of this documentary. (It helps that it's by her filmmaker daughter, Rory.) The youngest of the couple's 11 children asks everything she — and we — wanted to know about her parents and the extraordinary life they lived, both politically and privately.
9 p.m., HBO
COMEDY. "30 Rock" meets Ryan Lochte's rock-hard abs as the Olympian makes a guest appearance.
8 p.m., NBC
REALITY. Jennifer Hudson judges the New York Fashion Week finale.
Season finale, 9 p.m., Lifetime