Who's the Boss? cast reunites, reflects on Alyssa Milano's bra episode: 'It was so mortifying'

Who's the Boss? was full of awkwardly endearing coming-of-age moments. But none were quite so iconic as that cringe-inducing time Tony had to buy Samantha a bra.

Entertainment Weekly reunited Tony Danza (Tony), 65, Judith Light (Angela), 67, Alyssa Milano (Samantha), 43, Danny Pintauro (Jonathan), 40, and Katherine Helmond (Mona), 87, to reminisce about the show's 1984 debut and that seminal season 1 storyline.

"This was at a time that we could only say 'bra' once," Alyssa said. "We could only say it once, and then we had to come up with different things."

And the showrunners' attempts to comply with FCC standards made for some pretty great television.

"They came up with the best thing ever, which was incredibly funny," added Judith. "[Tony] kept saying, 'I have to buy her a foundation garment.' And it was hilarious!"

Audiences may have appreciated the bit, but it would take tweenage Alyssa years to see the humour.

"I'd walk down the street and get recognized," the married mum-of-two recalled. "People would be like, 'That bra episode! You're getting older, you're growing up!' It was so mortifying."

But Alyssa credits her castmates for being her supportive surrogate family throughout the show's eight-season run.

"These guys were as responsible for raising me as my own parents," she said. "We were together from the time I was 11 'til I was 19-years-old! That's your entire formative years!"

"[Alyssa and Danny] were just kids when they started," added Tony. "You got to take care of them."