Dave Itzkoff talks to The Simpson's executive producer Al Jean about Banksy's couch gag:
I saw the film Banksy directed, "Exit Through the Gift Shop," and I thought, oh, we should see if he would do a main title for the show, a couch gag. So I asked Bonnie Pietila, our casting director, if she could locate him, because she had previously located people like Thomas Pynchon. And she did it through the producers of that film. We didn't have any agenda. We said, "We'd like to see if you would do a couch gag." So he sent back boards for pretty much what you saw.
I give The Simpsons full credit for not pulling it down.