Family Guy, episode S02E14 “Let’s go to the hop”, aired June 6, 2000. IMDB
This is the episode of Family Guy with the infamous “your safeword is banana” scene.
The town of Quahog goes into a moral panic about teenagers licking psychedelic toads. Lois and Peter discover a toad in the laundry, and their daughter Meg confesses to holding it to curry favor with the popular kids.
That night in their bedroom, Peter and Lois talk about their fears regarding their kids while putting on fetish wear. Peter says he will talk to the school principal.
Peter’s “plan” is to infiltrate the school as a student, “Lando Griffin.” He solves the toad-licking problem with a musical number, and blunders into becoming the most popular guy in school. Most of the rest of the episode is Peter’s conflict between chasing highschool popularity and looking after Meg. The real underlying problem is the highschool social hierarchy, and the toads are just a symptom.
Perhaps inadvertently, Family Guy provided one of the most non-judgmental depictions of BDSM in mainstream media. Peter and Lois’ conversation about their kids and drugs is played straight. It’s the kind of thing a married couple with teenagers would talk about while getting ready for a scene. It’s just something they do together for fun.
You could interpret this scene to say that Peter and Lois are hypocrites for their panic over drugs while they indulge in kink, but that only works if you view kink as a problem. Showing them smoking a joint together would be a more pointed critique, but might not be allowed on television.