Damon Wayans Sr. Jokes Brother Marlon Did 'Not Think About Censors' While Guest-Starring on Poppa's House (Exclusive)

It's truly a family affair on Poppa's House!

The hilarious CBS sitcom already stars father-son duo Damon Wayans Sr., and Damon Wayans Jr. as Poppa and Damon, respectively. Now, in its latest episode, they're welcoming fellow Wayans family member, Marlon Wayans, who is Damon Sr.'s brother.

On the show, Marlon will be playing Poppa's brother Melvin. The episode airing on Monday, March 24, titled "Melvin," will follow "Poppa’s smooth-talking brother" as he "rolls into town with a shady new get-rich-quick scheme," per a synopsis.

PEOPLE has an exclusive look at the episode, in which Melvin arrives for the first time. Ahead of his arrival, Poppa claims his brother will "show up in a track suit with some beautiful woman on his arm with a big 'ol lie about why he's come empty-handed."

Instead, Melvin proves him wrong and appears in a navy suit with a gold chain — and with a bottle of wine in hand. "Don't look so surprised!" he quips. When Poppa points out that he hasn't seen Melvin in a suit since his "last trial," Melvin can't help but quip: "I guess this is the Shawshank Redemption!"

The idea to bring on Marlon, 52, came from the Scary Movie helmer, himself. "I love begging Damon for work," Marlon jokingly tells PEOPLE exclusively.

"I like to support my brother and I had this idea. I was like, 'Let me be your annoying brother Melvin, and he's shady, and gave him a little log line.' He goes, 'Let me work on that,' " he continues. "Before I knew that, he had a script, and from there I was like, 'I'm in.' I feel good when we all work together, so I try and do it as much as I can."

The all-new episode is also being directed by Marlon and Damon Sr.'s sister, Kim Wayans. For Damon Sr., the 64-year-old tells PEOPLE that working with his family is "a natural fit," as he says, "There's just this trust thing that happens and chemistry. The thing that takes actors years to develop, we have that automatically, which is chemistry and trust."

"So when Marlon starts going a certain way, I just know," he adds. "I have faith he knows where he's going, and if not, I can steer him back to planet Earth."

Reeling in Marlon isn't always easy, apparently. "I'm annoying. I know I'm annoying," says Marlon.

"We hired Kim to direct this because she's the only director that can check Marlon and get him just to focus," Damon Sr. adds. "His lack of focus is part of his brains. But we are making a show, and it's only 22 minutes long, so we need to bring in the big guns, because Kim with a whistle [will] go, 'Marlon,' and he [will] go, 'All right.'"

Marlon notes that "it was great working with" his family again. However, he recalls, "There was a time in the scene where I annoyed Damon and Kim, and only little Damon laughed."

"It's not that it wasn't funny. It's just like, you know, Marlon does not think about censors," Damon Sr. explains. "He don't think about the length of scenes. He just does what he thinks is funny, and it's funny, but it's funny on HBO. It's funny. It's not funny at 8:30 on CBS."

Will there be more Melvin on Poppa's House? "Apparently not unless it's on HBO," Marlon jokes.

However, Damons Sr. says: "No, hopefully! We'll see what happens."

"I think it's a really great character. We established a great character," he concludes. "Marlon breathed life into a three-dimensional character that we could possibly bring back should his schedule and our money meet at the same point. It would be fun."

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Poppa's House airs Mondays at 8:30 p.m. ET on CBS.