Tony Danza Visited By ‘Forever TV Daughter’ Alyssa Milano as “Who’s the Boss?” Turns 40

Milano paid Danza a visit during one of his New York City musical performances last week, just ahead of the 40th anniversary of the 'Who’s the Boss?' premiere

Tony Danza is sharing a sweet reunion moment with his "forever TV daughter" and Who's The Boss? co-star, Alyssa Milano.

On Monday, Sept. 23, the actor, 73, shared a photo to Instagram of himself and Milano, 51, posing together after Danza's sold-out musical performance of "Sinatra & Stories" at the Café Carlyle in New York City on Sept. 18.

"My forever tv daughter," Danza captioned the photos, which featured the TV father-daughter duo embracing each other and smiling. "Love you @milano_alyssa and thank you for being there for me."

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Related: The Cast of Who's the Boss?: Where Are They Now?

"I’m coming to see you in @chicagomusical on Broadway!!!!!" Danza added, referring to the recently-announced news that Milano would be starring as Roxie Hart on Broadway this fall in Chicago. "Can’t wait!!"

Milano shared her own version of the photos to Instagram as well, writing in her caption that Danza was "My forever TV Dad."

"I got to see him last week perform his show at Café Carlyle," she wrote. "He sang, played his uke, and danced. And damn…I’m so blessed to witness the joy that emanates off him when he performs. Love you, T."

The pair's reunion comes just days after the 40th anniversary of Who’s the Boss?, which premiered on Sept. 20, 1984. The sitcom lasted for eight seasons, and followed Tony Micelli, a single dad and former pro baseball player (Danza), who took a job as a live-in housekeeper for powerful ad executive Angela Robinson Bower (Judith Light).

Related: Alyssa Milano Reveals Inspiration Behind 10-Year-Old Sam on Who's the Boss? as Show Marks 40th Anniversary (Exclusive)

Milano scored one of her first television roles in the series by starring as Tony's daughter, Samantha, when she was 11 years old. The late Katherine Helmond also starred in the series.

At a recent press event ahead of her Broadway debut in Chicago, Milano spoke with PEOPLE about her time acting on the sitcom.

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“No one else understands that experience but us,” she told PEOPLE. “It was a really special cast.”

“When you’re on a show for eight years, in those formative years from 11 to 19 … what you saw on TV was our family unit,” Milano explained. “We were a family, and I love them very much and they will always hold a really big place in forming who I am as a woman.”

The pair's co-star Danny Pintauro also recently spoke about his love for Who's The Boss for its 40th birthday, telling his Instagram followers that he had declared "September 20th is, from this day forward, Who’s the Boss? Day.”

“So, happy Who’s the Boss? Day,” he added as the show’s theme song played in the background, smiling. “And happy 40th anniversary to the premiere of the first episode of our wonderful television show.”

Who's the Boss? is available to stream on Hulu.

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