Some viewers complained that Britain’s Got Talent wasn’t suitable for family viewing after featuring a lap dance and a child singing about a one-night stand.

BGT returned to ITV at the weekend, but some who tuned in on Saturday posted online messages about how the show was not exactly wholesome viewing and led to embarrassment when watching with youngsters.

The first edition featured dancer Keri Graham who stripped to a skimpy outfit and writhed around show boss Simon Cowell. Also included was Arisxandra Libantino, aged 11, who sang the track One Night Only.

Last year the programme was investigated by Ofcom after complaints over an appearance by burlesque dancer Beatrix Von Bourbon, but was cleared of breaching the broadcasting code.

This week’s acts drew online criticism from some viewers. One wrote on Twitter: “Nice family viewing as your child asks ‘Mummy why has that lady got hardly any clothes on, and what is she doing with those men?’.”

Best-selling author Jojo Moyes said: “I hate that lapdancer moves are somehow considered family entertainment.”

ITV said the dance had been ‘carefully edited’ to ensure it was suitable.