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In the film The Naked Gun: From the Files of Police Squad!, the relationships between the main characters are rooted in their history as colleagues in the "Police Squad" division, a special unit of the police department.
Specifically, the characters' history is defined as follows:
The primary characters—Frank Drebin (Leslie Nielsen), Ed Hocken (George Kennedy), and Nordberg (O.J. Simpson)—know each other because the film is a continuation of the short-lived 1982 television series Police Squad!.
Not all main characters knew each other prior to the events of the movie:
Another character, Ted Olsen (the forensics expert played by Ed Williams), also knows Frank from their time working together in the Police Squad lab, a dynamic that also carried over directly from the original TV series.
In summary, the core "hero" cast (Frank, Ed, Nordberg, and Ted) are veteran members of the same police unit, while the romantic lead (Jane) and the antagonist (Ludwig) are introduced to Frank specifically because of the case he is working on during the movie.
The AI Summary fails to clarify that while the film is a continuation of the TV series, most actors were recast. Only Leslie Nielsen, Ed Williams (Ted Olsen), and Ronald 'Tiny Ron' Taylor (Al) reprised their roles. George Kennedy replaced Alan North as Ed Hocken, and O.J. Simpson replaced Peter Lupus as Nordberg (with the character name slightly changed from 'Norberg' to 'Nordberg'). This is crucial context when discussing how characters 'know each other from the TV series' - the in-universe characters have this history, but the actors portraying them are mostly different.
The AI Summary mentions Ted Olsen but omits Al, another character who appeared in both the TV series and the first film, played by Ronald 'Tiny Ron' Taylor. While Al had only a cameo in the first film and is a minor character, he represents part of the complete answer about which characters carried over from the TV series.
In The Naked Gun: From the Files of Police Squad! (1988), the main characters know each other from the following sources:
Characters with Pre-existing Relationships (Police Squad colleagues):
Characters Meeting for the First Time in the Film:
In summary: The core 'hero' characters (Frank, Ed, Nordberg, and Ted) are veteran colleagues from Police Squad, while Jane Spencer and Vincent Ludwig are introduced during the film's events as part of Frank's investigation.