Trevor Bannister, who played Dick Lucas from "Are You Being Served?" Season 1-7 was asked to reprise his role for this show but he turned it down.
It was Jeremy Lloyd who came up with the title "Grace & Favour" (a pun on both Grace Brothers and also the term for premises which have been granted free of rent). His co-writer David Croft had wanted to call the series "Are You Being Served Too?"
unlike the self-contained episodes of Are You Being Served, Grace and Favour storylines were much more serialized, with references to earlier events in later episodes and storylines carrying over several episodes.