It's the kind of image that would have Richard and Judy's viewers ringing in with righteous indignation.

A young girl poses in stockings with her satin dress provocatively hitched up.

There's just one problem: The girl in question is Richard Madeley and Judy Finnigan's 20-year-old daughter Chloe.

While she is not the first member of the family to cause a stir by appearing in public in her underwear, she is the first to do it intentionally.

Racy: Chloe Madeley as she appears in FHM magazine

Her mother suffered an unforgettable wardrobe malfunction at the National TV Awards in 2000, when her jacket fell open and she inadvertently exposed her bra and a generous expanse of cleavage.

At the time her husband quipped: 'If you vote for us next year, she will show you both of them.'

In a recent interview, Chloe recalled how she had been mortified by the incident.

Pin-up: Chloe as she stepped out near her home in North London today looking relaxed and tanned

'Going to school the morning after the nation has seen your mother in her bra isn't exactly thrilling,' she said.

But that experience has not stopped Miss Madeley posing for men's magazine FHM.

The picture is one of a number of shots that appear in the current edition of the magazine. 

The proud parents? Richard Madeley and Judy Finnigan

One shows her in a see-through dress which exposes her underwear. In another, she is reclining on a sofa in a bra and silk gown.

In an accompanying interview, she says she agreed to do the shoot because it made her feel 'sexy and girly'.

It should also help to establish her as a personality in her own right. She has appeared on Richard and Judy's Channel 4 show, and last year presented four episodes of Big Brother's Big Mouth with her brother Jack. 

In the FHM article she admits her parents helped her get into television, adding: 'I have to work twice as hard to prove I'm able to do the job for a reason beyond my family name.' 

Causing a stir: An 18-year-old Chloe attracted attention in a revealing dress as she accompanied her dad to the Variety Club Showbiz Awards in 2005