From an interview in The Sunday New York Times Magazine, June 10, 2012:
There’s a scene early on in the show where a man performs oral sex on one of your friends, and then a couple of episodes later, we see the penis of Peter Scolari, who plays your father. Are you trying to make people say, “Wow, I never thought I’d see that on television”?
If we have done nothing else for you, you cannot say that we didn’t show you Peter Scolari’s penis. But I don’t think it’s a shock-value thing. I seriously consider television to be the people’s medium. Like the idea of seeing your parents naked or having somebody go down on you and worrying about whether you smell or worrying about whether your body is weird or what goes across the face of a person who’s supposed to be experiencing pleasure but isn’t — those are things I’d love to normalize on TV.