Watch the Couch Gag from The Simpsons/Futurama Crossover Episode

The Simpsons and Futurama are both Matt Groening creations, so it makes sense that the Springfield clan and the Planet Express posse are sharing the screen during an upcoming crossover episode of The Simpsons.

In advance of the special, catch the episode’s couch gag — one of the most beloved Simpsons traditions — which finds Hedonismbot from the canceled cartoon having an oddly sensual moment with Homer.

The episode, hot on the heels of September’s Family Guy crossover, airs Sunday and involves Bender going on a mission to travel back in time and get rid of Bart before he causes trouble.