Image caption Penelope Keith starred in The Good Life and To the Manor Born

Penelope Keith is returning to television to play Mr Darcy's aunt for the BBC.

The Good Life actress will play Lady Catherine de Bourgh in the adaptation of PD James's Pride and Prejudice follow-up, Death Comes to Pemberley.

The book places the Jane Austen characters six years on and involved in a murder mystery.

Matthew Rhys will follow in Colin Firth's footsteps and take on the role of Mr Darcy for the BBC.

Anna Maxwell Martin will play Elizabeth Bennett, while Matthew Goode takes on the role of George Wickham.

It has also been announced that Doctor Who actress Jenna-Louise Coleman will play Lydia Wickham.

Trevor Eve and The Thick Of It star Rebecca Front will also join the cast.

Death Comes to Pemberley picks up with Elizabeth and Darcy six years after their wedding, when they have two young sons and are preparing for the annual ball at their home.

The book, which was an international best-seller, has been adapted by Juliette Towhidi, the writer of Calendar Girls.

Filming is taking place on location in Yorkshire.