If you've never seen it, you've really missed out. It was sort of a "Wild, Wild, West" for the 1990s, and it never took itself too seriously (a flaw all too common these days).
It's way too expensive, but maybe it will be available for rental before too long. For an overview of the series, you can see the Wikipedia link, and a recap of each episode and DVD extras can be found here.
By the way, if you're a fan, please leave a comment and let me know.
Update: I meant to mention it before, if you recognize the theme song, that's because NBC co-opted it for their Olympic coverage.