As the series begins, ex-race car driver Mark McCormick accepts a job driving the Coyote X, an experimental car designed by a friend of his named Flip Johnson. Mark loses his job, however, after Flip is killed in a car accident and ownership of the car is granted to industrialist Martin Cody. Barbara Johnson, Flip's daughter, refuses to accept her father's death as an accident and, believing that Cody murdered Flip in order to get the Coyote, asks Mark to steal the experimental car. Agreeing, Mark sneaks into Cody's compound and steals the car. The next morning, the police, who identified Mark when he stopped to save a police officer's life, move in and arrest the ex-race car driver. To Cody's regret, the police are unable to locate the Coyote. Brought before Hardcastle, who is presiding over his last case, Mark is given a choice: help the judge round-up two hundred men who walked out of the judge's courtroom on technicalities are go back to prison. Carefully considering his options, M

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A convict who has been having an affair with the warden's wife, escapes with her help. He then calls Hardcastle, which agitates him. He and McCormick go out to find him, clearly there is something personal between them but he is not saying what it is. Eventually, it's revealed that before Hardcastle chose McCormick, he gave this guy a try and he proved Hardcastle wrong. Now he is out and wants to get back at Hardcastle. He goes to the mansion and holds Sarah hostage but Hardcastle and McCormick arrive and apprehend him.

Boxer Kid Calico is told to throw a fight in order to keep his kidnapped father alive.

Hardcastle & McCormick set out to assist a woman lawyer who is an old friend of Hardcastle's convict a mobster who is running stolen property in semi trucks.

A gang member is remanded into the judge's custody only to stay in the guest house with Mark, while the judge and Mark go after a psychiatrist who has been taping private sessions with clients revealing vital damaging information.

Mark is thrilled when he gets a shot at racing in big leagues only to learn that his sponsor's auto parts business gets their inventory from stolen cars.

Keenan Wynn guest stars as an old bank robber who was recently released from prison who attempts to locate the armored car that he had robbed in the '40s.

Hardcastle is up for a spot on the Supreme Court bench but some people don't want him to be chosen.

Hardcastle returns to his hometown in Arkansas for a high school reunion, only to learn from an old friend that people are being swindled out of their farms. After the friend is murdered, and his daughter asks the judge for help, Hardcastle enlists McCormick to burglarize the local land office.

Hardcastle hides out with another old friend, recovering from his injuries, while he tries to figure out how to retrieve the evidence against the town officials. Meanwhile, Mark and Christy take refuge in an abandoned cabin.

Hardcastle and McCormick must help protect a famous race car driver who is in danger of losing his claim to fame as well as his life.

After breaking into the official records, Mark identifies his long-lost biological father as a lounge singer in Atlantic City and goes to see him. But the man turns out to be sought by a mobster who kidnaps Mark to force him to steal some incriminating tapes from a government safe.

Finally tired of how Hardcastle is treating him, Mark seeks another job with a water filter manufacturer. But after the director misleads a group of potential buyers during a presentation, Mark quits only to find out his boss is not yet willing to part ways, and kidnaps Hardcastle to keep Mark at the company.

Perplexed by the apparent suicide of ex-con Denny Frye, an up-and-coming comic, Hardcastle decides to investigate. Thanks to Mark, Hardcastle discovers that Denny was romantically involved with a woman named Pamela Bayer. The judge's earlier suspicions gain some validity when Hardcastle and McCormick see a group of men try to kidnap Pamela. After rescuing Pamela, Hardcastle and McCormick learn that the prospective kidnappers work for reputed mobster Sonny Austin, her ex-boyfriend. Realizing that Sonny, in an irrational attempt to win back his ex-girlfriend, has been assaulting all Pamela's dates, Hardcastle and McCormick try to find out who has been providing the mobster with her dating schedule. It turns out that Pamela has been primarily dating comedians employed at Boots Dikeman's club. Figuring that Leo Dikeman, Boots' main competitor, is probably encouraging Sonny, Hardcastle and McCormick decide to pay him a visit. Before they arrive, Sonny, realizing that he has been used, kills Leo. Facing a dead end in the case, the judge asks Mark to pose as one of Pamela's comedian boyfriends. Taking the bait, Sonny falls into the judge's trap.

After finding strange German bullets on the beach, Hardcastle gets involved in an underground treasure hunt for World War II gold at the beach. Meanwhile, McCormick also gets involved with the hunt by being kidnapped by WWII Germans attempting to recover the gold.

A critically-wounded criminal admits to being paid to frame a former baseball player, Duke McGuire, for murder. Feeling responsible for his false incarceration since he was the presiding judge, Hardcastle tries to help McGuire become a baseball player once again. But his attempt at a comeback is threatened when drugs are found in his locker.

In the third season opener, Hardcastle and McCormick go on a photo exhibition with Buzz Bird, one of the judge's old friends. To their regret, Buzz, who is a pilot, has a heart attack while flying them over a stretch of Oregon wilderness. While Hardcastle and McCormick survive the crash landing, they are stranded miles from civilization and unknowingly attract the attention of Taylor Walsh, a mountain "pirate" who has made his living by robbing tourists. After suffering through a horrible rain storm, Hardcastle decides to tell Mark how much he appreciates their friendship. Although Mark pretends to be asleep, he actually hears everything the judge has to say. The next day, the two men come across the dead body of a murdered man. Realizing that they are being tracked, they decide to speed up their journey by white water rafting. Once the two men are in the water, Taylor and his men attack. Fleeing to land, Hardcastle and McCormick manage to evade the pirates. Turning the tables, the two men capture Taylor and his men. A month later, the judge and Mark, with their prisoners in tow, finally return to civilization.

After race car driver Kiki Cutter is injured during a race, Mark, knowing her from his own racing days, decides to pay her a visit. Fortunately for Kiki, Mark arrives just as someone tries to kill her. Although the killer manages to escape, Mark does manage to get his license plate number. Believing that the attempted assassination may be tied into Kiki's crash, Mark sneaks a look at the car. Confirming his suspicions, Mark finds evidence that Kiki's car was sabotaged. Meanwhile, Hardcastle traces the assassin's license plate to Hal Jenkins, an insurance broker. Some of the pieces of the puzzle are tied together when a recovering Kiki reveals that she has been secretly planning on divorcing Sammy "Sidewinder" O'Connell, her race driver husband. Once, Hardcastle has stopped Jake Thomas, the man who tried to kill Kiki, as well as arrested Jenkins, Mark, with some financial backing from the judge, decides to challenge O'Connell in a major car race. Thanks to his superior driving skills, Mark defeats O'Connell and settles a longstanding rivalry between them. Afterwards, O'Connell, who had selfishly acted out of fear of how the divorce would impact his career, is arrested for his part in the attempts on his wife's life.

When Bill Bauer is declared dead after being MIA from the Marines for 10 years, Mark, the soldier's former best friend, is asked to handle the funeral arrangements. The funeral does have one positive result for it reunites Mark with old friends Patrick Burke, Jeff Steffan and Peter Trigg. To Mark's surprise, shortly after the funeral, Bauer turns up very much alive. Upon being confronted by his angered friend, Bauer explains that he had been in charge of destroying cash when the United States pulled out of Vietnam in 1975. Instead of following orders, however, he had waited for an opportunity to smuggle the money into the country. Continuing, Bauer relays how he used "his" casket as a way of transporting the cash. Bauer realizes that his plan is falling apart when someone tries to kill him. Seeing no alternative, Bauer decides to go after the men chasing him. Following Bauer, Hardcastle and McCormick discover that Peter Trigg, secretly the leader of a group of terrorists, is trying to get a hold of Bauer's money in order to buy weapons. Although Trigg temporarily manages to capture Hardcastle and McCormick, the two men are able to turn the tables thanks to Bauer's intervention. Later, the police are all set to take Bauer into custody when the ex-soldier decides to disappear again.

Entering the hospital for a routine checkup, Hardcastle discovers that he is dying from an incurable disease. Not wanting to let his friend just fade away, Mark convinces Hardcastle to live his remaining days to the fullest, Taking Mark's advice to heart, the judge, using the money he inherited from his wife, buys a one million dollar boat. Hardcastle's boating career is short lived, however, for armed men steal the boat. Although Hardcastle is initially willing to let the police handle the crime, he changes his mind after discovering that the hospital made a mistake and he is not really dying. Searching the docks, Hardcastle and McCormick locate the boat. Instead of reclaiming his property, Hardcastle discovers that the boat really belongs to an influential Senator. Realizing that Barry Jackson, the man who illegally "sold" him the boat, is a con artist, Hardcastle contacts his bank to find out where his money is being transferred. With Lieutenant Harper's help, Hardcastle and McCormick stake out the bank and capture Jackson. In the process, Hardcastle recovers his money.