I once attended a taping of "Friends," it was a blast and very memorable! Being in a studio audience can be a lot of fun. When I was there, we were warmed up by a comedian, who also kept us engaged between scenes. There were prizes given away, and it went a little long so they even brought in free pizza for us. Best of all was seeing the stars perform live!
Just don't let them talk you into dancing in exchange for some merch. I still have regrets.
Shows only tape at certain times of the year (fewer in spring/summer), so some shows and tickets are not always avavilable.