TV highlights: Nicole Kidman's 'Grace of Monaco' premieres on Lifetime

(All times Eastern) RETURNING SHOW: On the Season 7 opener of "American Ninja Warrior" (NBC at 8 p.m.), the contestants, including former Baltimore Raven Brendon Ayanbadejo and Seattle Seahawk player Jon Ryan, face obstacles such as the "Mini Silk Slider," "Spin Cycle" and "Hourglass Drop."