The couple took their children to the show's set on Thursday and were joined by star Jesse Tyler Ferguson, who plays Mitchell Pritchett in the sitcom, reports dailymail.co.uk.
Victoria took to her Instagram account to share the photograph of her family and added the caption: "Dunphy's are out, the Beckham's moved in. The new modern family! David Dumphy."
In the image, both Victoria and David are in the background putting on comical poses alongside Jesse, while the younger children sit on the sofa looking pleased with themselves with Brooklyn standing behind the couch.