Joey (TV series)

Additionally, Robert Costanzo reprised his role as Joey's father, a character who originated in the first season of Friends, in ``Joey and the Dad''. Costanzo was the only actor besides LeBlanc to play the same character in this series as in Friends (Gina appeared in a third-season episode of Friends, but was not played by Drea de Matteo; Joey's sister Mary Theresa also appeared in a third season Friends episode, but was played by a different actress than on Joey).

Question: did any of the friends cast appear on joey
Answer: yes