Milwaukee and George Carlin had a special relationship from the moment he was arrested here 40 years ago for mentioning "the seven words that can never be said on television" on a Summerfest stage. The comedian died in 2008.

Carlin's daughter, Kelly, was 9 when the long arm of the Milwaukee law put her father in jail for alleged disorderly conduct and profanity. She went on to graduate magna cum laude from UCLA, get a master's degree in "Jungian depth psychology" and work as a therapist for a few years.

But she is a Carlin, and she has never been able to completely escape show business. Her new "The Kelly Carlin Show" debuts at 6 p.m. today on the SiriusXM satellite radio Raw Dog Comedy channel, which is #99. On the first Sunday of every month, Kelly will interview a famous comedian about life, careers and the end of the world according to the Mayan calendar.

First up today is Robin Williams, who will talk about being cast in "Mork & Mindy," among other things.

Carlin's interviews will be repeated several times for SiriusXM internet subscribers on channel 400. Here is a recent interview with Kelly Carlin from the New York Times.