'Criminal Minds' to pay tribute to the late Meshach Taylor

Criminal Minds is planning to pay tribute to Meshach Taylor in an upcoming season 10 episode, EW has learned.

The late Designing Women star first appeared on the CBS drama in season 8 as Harrison Scott, Rossi’s former Marine sergeant who fell on hard times and ended up a homeless vet after Vietnam. Five months before Taylor died, Scott and Rossi crossed paths again during a season 9 episode, in which Rossi helped Scott reunite with his long-lost son. For the upcoming season, Joe Mantegna is slated to direct an episode that brings a sense of closure to Scott’s storyline.

“Joe felt he would really like to finish that story that we started,” executive producer Erica Messer says. “It’s a huge deal for Joe because he and Meshach were friends for over 40 years, but also for Meshach’s career because the last acting thing he did was work with one of his best friends. Joe really wanted to honor the friendship and Meshach’s professional life and bring closure to the story. We’re going to do that almost midway through the season. It’ll be really touching.”

Taylor died in June after a long battle with cancer. He was 67.

Criminal Minds returns Oct. 1 at 9 p.m. ET on CBS.