Columbo and Milo meet on the very beach where Rockford's trailer was located. During one season one episode, a long shot of Rockford's beach shows Columbo car in the parking lot. Milo's secretary is played by Gretchen Corbett and was a semi-regular cast member on Rockford. And this episode was originally broadcast two days after the premier of Rockford Files.
Peter Falk presents the premise of the upcoming episode