In this special episode of "Fear Factor", mothers and sons will compete together for $50,000. First, the mothers must stand on their son's shoulders while balancing on a tiny ledge 100 feet in the air. Then, the teams must navigate through a kitchen filled with biting snakes and disgusting obstacles. Finally, in the most emotionally explosive stunt ever, watch as these mother/son teams race down a freeway and secure their cars underneath a moving semi-truck before climbing out of the sunroof to traverse the side of the truck.

This week's Home Invasion takes host Joe Rogan to Ontario, California where he surprises yet another unsuspecting family with a "Fear Factor" challenge of their own.

With April now being a part his life, Luke has to cope with the significant changes her being there has caused. Lorelai also must deal with the changes that April has brought to her engagement to Luke and tries to convince herself, and everyone else, that she doesn't mind. At the Yale Daily News, Rory has to deal with the impact of the staff quitting in protest of Paris' management and enlists Logan's help to get the paper out on time. Meanwhile, Lorelai lets Richard and Emily know that they no longer will have to pay for Yale, resulting in a poignant Friday night dinner.

The best and worst of auditions around the country from Las Vegas, NV.

Dean and Sam travel to Missouri after Cassie, one of Dean's ex-girlfriends, calls him to investigate two racially motivated murders. They find that each murder involves a black truck that has no driver and leaves no tracks. Meanwhile, Dean has to deal with the feelings that he still has for Cassie.

With the IAD investigation in full force, Vic seeks legal representation from Becca Doyle for the Strike Team. Also, a suspicious Vic decides to confront Emolia after he begins to doubt her loyalty to him. Meanwhile, Dutch and Claudette investigate the ghastly murder of a pregnant woman. Tina continues to make mistakes while on duty.

TONIGHT: Retired NBA Star, Charles Barkley!

TONIGHT: Stephen Colbert welcomes reporter, Dave Marash!