Phylicia Rashad, who was indeed Claire Huxtable from the Cosby show.
Six internet points go to GGT - well done - I hadn't spotted who she was though she did look familiar.
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The younger dude is Adrian Lester - a Brit - who is probably most famous for his roles in the Bonekickers series, and more recently the Hustle series. Most of you probably haven't heard of either.
Oh ... and those aren't slippers, they're what I call beach shoes; cloth fabric sewn to a sole made of twine or similar material.
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The younger lady is Sanaa Lathan, who was in Blade in 1998 with Wes Snipes among other things, but probably most famous for taking the lead role in Alien Vs Predator ...