Throughout the course of the show's 10 seasons, they've been through pretty much everything - from marriage and babies right through to, er, inadvertently filming a sex tape.
Well, long before all that DID SHE GET OFF THE PLANE!??!?! drama, things started out - as it often does - with a kiss.
Yup, a TV kiss that first aired a whopping 23 years ago today.
Many of us will remember the moment when Rachel was clearing up in Central Perk at the end of the day - not locking the doors, I might add, which is a big no-no for anyone working in the hospitality industry wanting to keep the general public away.
Ross walks in and the two have a blazing row, before he storms out of the café into the rain, with Rachel yelling, 'And you know what? Now I've got closure!' after him, as she slams the door and bolts it shut.
After Rachel has a little weep on the sofa (because women in TV shows must only weep, no wailing or all-out bawling, 'cause that looks gross), Ross pops up at the door again because he didn't learn the first time that it's CREEPY AF to do that to someone on their own in a dark building.
That scene where Ross and Rachel have their first kiss in Friends may seem sweet, but we're also getting slight horror movie vibes. Credit: Warner Bros
They eventually talk it out and kiss, and the rest was history.
Well, except it wasn't really, was it? We all know the course of love never did run particularly smoothly for Ross and Rachel.
But Friends producer Kevin S. Bright has said the pair were originally supposed to have a much easier ride - and that they were never supposed to go on a break in the first place, but writers Marta Kauffman and David Crane decided to stir things up a bit.
In a recent interview with the Metro, Bright explained: "I would say initially when [Ross and Rachel] was planned, it wasn't planned that way - that came a little bit later.
"It allowed us to have fun with the show and give people something to root for.
"We were well aware the audience wanted to keep them together but everything that was keeping them apart - we realised when we got them together when the first kiss happened we go, 'Wow, the air has kind of gone out of the balloon.' There wasn't that sexual tension anymore.
"I thought what Marta and David did, which was such a brilliant and brave move with their relationship, as soon as everyone got their wish the wish was taken away. It made it so much better when they did get together."
And if you think Bright's wrong, just think back to Rachel turning up at Ross' apartment and telling him: "I got off the plane." C'mon, that's enough to melt even the coldest of hearts.
Featured Image Credit: Warner Bros