Robert Culp guested on The Nanny in episode #1.20 -
"Ode to Barbara Joan," also know as, "Daddy Dearest."

This episode appeared in the first season and aired on
April 12, 1994.

CC becomes very nervous when her father, Stuart Babcock (Robert Culp), pays a visit. Trying to get into his good graces as the family chatted around the dinner table, she inadvertantly says the wrong thing and listens with green-eyed jealousy as her father invites Fran to the Barbara Streisand concert instead of her.