Gellar: I want Williams to adopt me
The Mrs Doubtfire star plays an unorthodox advertising executive with Sarah as his daughter in the new CBS comedy, from Ally McBeal and Boston Legal creator David E Kelley, which is due to air this autumn.
Sarah spoke to Us Weekly at the Summer Television Critics Association tour where she revealed: "My joke is that I actually didn't apply to be on the show - I actually applied for Robin to adopt me. I didn't realise it was actually a job on a TV show, but since that was second best, I took it!"
The 36-year-old actress was joined by Robin and co-stars James Wolk and Amanda Setton at a question and answer session about the new show.
The former Buffy The Vampire Slayer star revealed: "To me, if you think of the top 10 comics of all time, Robin's on that list. One thing about Buffy that was so wonderful... it was funny, it was dramatic, it was scary... Ultimately, comedy is really what I wanted to do."
Sarah, who has a three-year-old daughter with husband Freddie Prinze Jr, also revealed: "Being able to have Robin sort of take the lead, for me it's the best of both worlds. I get to spend time with my family and I get to do a job that I love."
And 62-year-old Robin - who has three children, including 24-year-old Zelda with second ex-wife Marsha Garces - was like a father figure to Sarah on and off screen.
She explained: "He understands the dilemma that I find being caught between my home life and my professional life. He couldn't be more caring.
"I'm fortunate enough to get to watch the relationship between my husband and our daughter. I also get to watch the amazing relationship between Robin and Zelda and take from that."