I think the show is called “the Guardian”, that one where some jerk of a lawyer gets sentenced to do social work? It may be a bit too old for these kids, but perhaps not. Yep, here’s its wiki entry (can’t access imdb at work). If it really is showing reruns they may have caught some.
I think there have been social workers in House; they’re a recurring figure in both “cop” and “doctor” shows; there was one in one of the first-season episodes of Fringe (the one where they find a kid in a closed basement)