What TV show ended with "Sit Ubu, sit"?

Ubu Roi - Black Labrador retriever formerly owned by Gary David Goldberg, the producer of UBU Productions, Inc. founded in 1981. At the end of each of Goldberg's television programs (FAMILY TIES/ NBC/1982-89; THE BROOKLYN BRIDGE/CBS/1991-93; and SPIN CITY/ABC/1996-2002, among others) a black and white photograph of Ubu Roi is flashed on the screen. The photo shows a Black Labrador retriever holding a frisbee in its mouth, facing to its right. He is sitting on a patch of lawn in front of an unidentified college dormitory (supposedly somewhere in France). Off screen Gary David Goldberg speaks the phrase "Sit Ubu, Sit!" and the comment "Good Dog!" The dog acknowledges his master voice with a quick, single dog bark. Ubu Roi (who died in 1984) played Frisbee with Goldberg during his college days.
http://www.tvacres.com/adanimals_uburoi.htm

For those who'd like to listen:

https://www.youtube.com/watch?v=qzcDgNLU-nQ