Baio appears with Erin Moran in a blooper from Joanie Loves Chachi on TV's Bloopers and Practical Jokes in "Death Has a Shadow". Baio, as Chachi, tries to recite the tongue twister "She sells sea shells by the sea shore" and is mauled by a bear.
As revealed in "Meet the Quagmires", a date that Peter Griffin and Lois Pewterschmidt went on in 1984 to see Baio's film Zapped! was crucial to the maintenance of their relationship. Pewterschmidt chose the film figuring Baio was androgynous enough that both she and Griffin could fantasize about him without anyone's sexuality would be questioned.
He appears in the actual Charles in Charge opening with his castmates in the episode that airs in "New Kidney in Town".