I laughed so hard during the pilot episode I scared my 2 month old! This show is exaggerated on some levels (the dressing like a *dad* scene comes to mind), but it isn't on so many others (the boss being nice to an employee's kid scene comes to mind here). It really does show how kids do *ruin* your life, but also how they bring a fun new adventure to it. I would definitely consider this *family friendly*.
I can see why some people, especially those with a more conservative sense of humor, wouldn't find some of it funny. For example, how little discipline the kids show at home with the parents, but if you've ever been the "fun babysitter" it isn't anything you haven't seen before, BUT they have discipline when in public & that's more important to me.
If you give it a chance, you're either going to love it or hate it, but there's nothing wrong with giving it a shot. Although if your children are easily impressionable, I would skip this during "family TV time".