I remember this series. It starred Robert Hayes, of Airplane fame. He returned to earth and was traveling around the USA with son, if I recall. Here is the place to go to look for information concrening any DVD release of this series. There is information, however regarding a release of this series. http://www.tvshowsondvd.com/
I actually recently started to transfer my ABC masters to DVD on this show. Don't think it's very likely to see a release but I have them all perfect quality so I'm happy.
Maybe the best chance for the series to make it to DVD when SPHE decides to release the special edition disc of the movie to R1 DVD (the SE of Starman is already out in R2).