Although Chi McBride, Anthony Heald, and Loretta Devine appeared in every episode, McBride played Steven Harper more than the latter two. He reprised the role in 2005 on an episode of "Boston Legal". The law firm represented the plaintiff in a case against Steven Harper. The episode was written in a way that people who had never seen the previous show weren't missing any details.
According to Anthony Heald, after David E. Kelley left the show in the middle of season two, his character suffered a lot from the writing perspective, and started doing things Heald didn't think matched his personality.