Showrunner Dan Fogelman made the revelation at the TCA summer press tour, reported Variety.
The 71-year-old veteran actor will appear in a guest starring role opposite Justin Hartley's character as a co-star in his new film within the series.
Fogelman told reporters that Stallone is only currently booked for one episode, but "It's a big part," he said.
"It's a war period film that Justin is starring in. Stallone is coming in as himself in the show but playing a character in the film who's a mentor figure who starts bringing up some stuff for Justin's character involving Jack and his relationship with his own father," he added.
Stallone previously appeared with "This Is Us" star Milo Ventimiglia in the 2006 film "Rocky Balboa," though it is doubtful the two will share any screentime in the NBC series due to its multiple timelines.
Other guest stars lined up for this season include Dan Lauria and Debra Jo Rupp.
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