My Wife and Kids (2001) : 3x21

Claire has taken her driving permit, but Michael won't lend her the car because he doesn't think she can drive very well. Nevertheless, Claire steals the car keys thinking if she goes out really quick while her parents are gone they will never notice. Unfortunately, she drives by them on her way to meet her friends, and Michael decides to teach her a lesson on the Michael Kyle style: stealing the car and making Clare feel guilty about it. She goes to Junior for help, and they call the police reporting the stolen car. Michael ends up in jail due to the mixup, but he and Clare end up getting along after everything is cleared up.