"Rebel" is inspired by the life of Erin Brockovich, who's also an executive producer of this series.
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"We are not doing an autobiography of Erin Brockovich. So even though she is everywhere, yeah, there is enough freedom to find these people within all that," said Sagal.
Sagal plays a legal advocate who fights to help those who need it. She doesn't have a law degree. But Garcia's character, a longtime friend, does.
"She basically, metaphorically, dumps things on my desk, you know? She goes, 'Here it is,'" said Garcia.
"He comes from the same place. I mean, he's all about justice and he's all about, I mean, in my interpretation, and also giving voice to people who don't have a voice," said Sagal. "That's kind of what they're united in. She just moves a little quicker, I'd say. She gets like a dog with a bone. She's on it, and so there is really no stopping her. And unflappable is a great word for her."
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The two longtime actors have found they are kindred spirits on the set.
"You're holding hands through this journey together on a daily basis and you want someone you can play with, you can trust, people who are generous, who are professional," said Garcia.
"Rebel" airs Thursday nights on ABC.