The Tony-winning revival is directed by Diane Paulus.
Rubinstein is currently appearing in the award-winning revival of the classic musical.
Martin will return to the Broadway cast before joining the tour in Los Angeles.
Original Pippin John Rubinstein extends his run with the Broadway revival.
The Tony winner for Children of a Lesser God steps into the role of King Charlemagne.
The Tony winner will fill the role of Charles while Terrence Mann takes a leave of absence.