Bobby, 46, joined by his wife Alicia Etheredge, did his first TV interview in an episode of "The Real" since his daughter's death, reported People magazine.
"We prayed and hoped for six months, you know, for something better to happen. But when God calls you, he calls you," Bobby said.
Bobbi Kristina died on July 26 at the age of 22 after months in a medically induced coma following a bathtub incident.
She was found facedown and unresponsive in her bathtub in her Georgia home on January 31.
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"In the best way... In the welcoming way," Alicia added.
Houston died from accidental drowning and was found unresponsive and underwater in a bathtub at the Beverly Hilton Hotel on February 11, 2012.
She was buried in New Jersey and Bobbi Kristina was laid to rest next to her.
"She was not comfortable by herself, I guess. She just called my daughter with her," said Brown of his ex-wife.
Bobbi Kristina's conservators are currently embroiled in a lawsuit with her boyfriend Nick Gordon, who is being accused of causing her wrongful death.