The two reunited in front of a hotel and documented the meeting on their social media pages, reported E!Online.
In one of the picture, Bobbi is shown running towards her father in one picture, as the former New Edition singer held his arms out wide for a hug.
"I got a running start," Bobbi wrote on the pic.
She captioned the other photos, "Happy Father's Day" and "Out to dinner with daddy". And in one final image, the two are shown embracing with big smiles.
The two have had a notoriously rocky relationship lately, especially after the singer revealed he was not supportive of his daughter's marriage to Nick Gordon.