As one of the hottest sitcoms of the 1980s, “Who’s the Boss?” centred around a former professional athlete single dad (Tony Danza) who worked as a housekeeper for a high-powered female executive (Judith Light), her son (Danny Pintauro), her eccentric mom (Katherine Helmond), along with his daughter (Alyssa Milano) and fans have been clamouring for a cast reunion ever since the show went off the air in the early ’90s.

Entertainment Weekly has heard the pleas, and 30 years later brings together the cast in its latest issue, with Danza and his co-stars reminiscing about the sitcom hit.

“When we’re together, it just feels like it was yesterday,” says Milano in behind-the-scenes video of the reunion.

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Sitcom standards sure have changed since the heyday of “Who’s the Boss?”, and the cast reminisce about the classic episode when Tony’s character (not coincidentally named Tony) buys a bra for then-teenage Milano’s character, Sam. “This was at a time when we could only say ‘bra’ once,” notes Milano, which led to the writers cooking up the term “foundation garment” for subsequent mentions.

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In addition, Light (currently seen in the third season of critically acclaimed “Transparent”) recalls that Danza “taught me how to play baseball, basketball,” and even taught his co-stars to tapdance — resulting in a not-as-rusty-as-you’d-expect display of what they learned:

You can read more with the cast of “Who’s the Boss?” in the latest issue of Entertainment Weekly.