The format is described as "part travelogue, part buddy comedy and part retrospective," following Joe and David as they plan "surprising" days out for each other, each of which is themed around a particular British sitcom.
Gervais will be on-hand to look back on the workplace comedy that made him a household name, having previously collaborated with both Earl and Wilkinson on his comedy-dramas Derek and After Life.
Meanwhile, Earl commented: "I'm very grateful to UKTV for giving us the chance to make this series, something me and Joe have been talking about for ages.
"It honestly feels like I've won a competition where the prize is stepping through the TV screen into my favourite sitcom worlds. This 51-year-old man is very happy indeed."
UKTV's senior commissioning editor Mark Iddon added: "Joe Wilkinson and David Earl are the U&Gold audience. They don't just admire these sitcoms, they love them with the same passion our viewers do.
Joe & David's Magical Sitcom Tour is coming soon to U&Gold.
Check out more of our Entertainment coverage or visit our TV Guide and Streaming Guide to find out what's on. For more TV recommendations and reviews, listen to The Radio Times Podcast.
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