7th Heaven - Season 5 - Eps 16: Parents
Robbie is ecstatic when his long-lost father (guest-star Alan Thicke) who is a dead-beat dad appears out of the blue. Although, Eric and Annie distrust the dead-beat dad's motives. He also convinces Robbie to move out with him; against Eric's wishes. Meanwhile, Ruthie turns to Mary for advice on how to get around their parents rules when wanting to buy a makeup kit that they said 'no' to. Also, a very convinced Annie worries when Lucy starts having a relationship with her friend's freewheeling ""unmotherlike"" mom. Also, Simon develops a bad attitude with his mother when not wanting to do his school work, but wants to hang out with his friends.
About 7th Heaven

Title: 7th Heaven
First Air Date: 1996-08-26
Last Air Date: 2007-05-13
Status: Ended
Rating: 6.4/10 (from 205 votes)
Language: EN
Seasons: 11
Total Episodes: 243
Network: The WB The CW
Genres: Family, Drama, Comedy
Production Companies: Spelling Television, CBS Studios
Synopsis
Reverend Eric Camden and his wife Annie have always had their hands full caring for seven children, not to mention the friends, sweethearts and spouses that continually come and go in the Camden household.
Cast

Stephen Collins
Eric Camden

Catherine Hicks
Annie Camden

Beverley Mitchell
Lucy Camden

George Stults
Kevin Kinkirk

Nikolas Brino
Sam Camden

Lorenzo Brino
David Camden