Final answer:
In 'The Office' S6E20, Erin learns that Andy had a prior relationship with coworker Angela, which he had not disclosed to her.
Step-by-step explanation:
In Season 6, Episode 20 ("Secretary's Day") of The Office, Erin discovers that Andy previously had a relationship with Angela, a coworker. Andy had not told Erin about this past relationship, which causes tension between them when she finds out during the episode.
This disclosure happens when Michael Scott takes Erin out to lunch to celebrate Secretary's Day and inadvertently reveals the information.