Yes, Dear - Season 3 Episode 3 Sammy's Independence Day

Jimmy and Christine scoff at how overprotective Greg and Kim have been with Sam, going so far as to hold the tot's hand when using the playground at the park. Kim disagrees with them, but when Greg starts to visualize Older Sam as a guy who can't do anything for himself without mommy and daddy, he puts his foot down and blasts Kim. When she's resistant to change, Greg goes behind her back, takes Sam to the park with Jimmy, and lets the kid play by himself -- which results in Sam getting hurt. Although Kim is furious with Greg initially, she soon sees Logan doing all the things for himself that she insists on doing for Sam, and comes to terms with how smothering she's been.