That's a great episode to highlight! is titled "The Legendary Family! 'Daddy the Father' of the Afternoon."
Are you currently rewatching, or is this your first time through the series?
Here’s a quick piece (no pun intended) looking at that episode:
This episode falls during the Jaya Arc , right before the crew heads to Skypiea. It's the transition where Luffy, Zoro, and Robin are exploring the forest looking for the South Bird, while Sanji, Nami, Chopper, and Usopp are watching the Merry.