Joe Scarborough said President Donald Trump's defense counsel looked "sad and mournful" as he presented the commander-in-chief's case.
The former independent counsel told conservative activist Charlie Kirk's podcast that the Democrats should have let the courts decide.
Republicans for the Rule of Law are expected to air a television advertisement questioning the selection of Judge Ken Starr for President Donald Trump's legal defense team during his impeachment trial, calling his appointment to the team "puzzling."
"I can't imagine another president at any time having to select a team that would be associated with a pedophile," Joe Scarborough said.
"They are not articles of impeachment. The articles of impeachment are two non-criminal actions," the retired Harvard law professor argued.
After reports that Ken Starr would be joining President Donald Trump's legal defense team for Trump's upcoming impeachment trial, video resurfaced of a 1999 interview in which Trump called Starr a "lunatic" and a "disaster."
Ken Starr criticized Democrats using impeachment as a "first resort" and blamed the polarized reaction to Trump's comments toward four freshman congresswomen on no "unifying force" such as a "foreign enemy."
Trump suggested on Saturday that the photo of him and his latest accuser means nothing, telling reporters "give me a break."
Critics are mocking Fox News correspondent-at-large Geraldo Rivera Thursday after he challenged anyone seeking impeachment of President Donald Trump to a fight.
"The law cares about what is done, not what is thought or what is said," said Starr, the independent counsel who investigated President Bill Clinton.
"Impeachment is hell" for the public to go through, said the special prosecutor who investigated Bill Clinton.
Former independent counsel Ken Starr warned against such a move, saying "the country should not be taken through that."
Starr said he decided not to go ahead only because it would have been too hard to prove Clinton was lying.
The activist also said the #MeToo campaign had made her reassess her relationship with Bill Clinton.
The president claims he never tried to fire the special counsel.
The network used Lewinsky's name instead of the former president's.