Last Thursday, the corporation downloaded an episode of Caroline Aherne's struggling new comedy series 'Dossa and Joe' on to the 50,000 Tivo boxes in operation in the UK.
Viewers watching TV were surprised when a message from their Tivo box appeared announcing: "Tivo needs to change channels to record enhanced content."
It then recorded the programme with the message: "A must-see from the BBC". Many did not discover the programme -- a post-watershed show -- until the morning when children turned TV sets on.
More than 200 viewers complained that the BBC had sent them "TV junk mail" that they did not want to watch, while more than 1,000 angry messages were posted on a web forum for TiVo users.
Many of those who complained felt the post-watershed show was inappropriate because it contained bad language and children would be able to see it.
Others were cross that they had missed the beginning of the 'Ten O'Clock News' because the box was still recording the 30-minute programme.
Viewers who complained were told that the BBC had the power to override their machines and download whatever programmes it wanted.
The BBC is the first broadcaster to use such marketing tactics after it signed a deal with TiVo. The broadcaster said reactions to the strategy had been mixed.
The TiVo system allows viewers to record and store up to 40 hours of programming without videotape, as well as to pause and rewind live broadcasts.
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