While on a date with Joshua, Rachel comes out in her nightie only to discover his parents have arrived.
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Pull up a couch and relax at Central Perk, where six Friends gather to talk about life and love. Friends tells the story of siblings Ross (David Schwimmer) and Monica (Courteney Cox) Geller, and their friends, Chandler Bing (Matthew Perry), Phoebe Buffay (Lisa Kudrow), Joey Tribbiani (Matt LeBlanc), and Rachel Green (Jennifer Aniston).
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Friends: Rachel Gets Caught Wearing Lingerie (Season 4 Clip) | TBS