The Melbourne woman had been separated from her parents for two decades when she found him in Queensland in 2014.
She then invited the man, his partner and their son to visit her home, despite his known history of violence, according to Melbourne newspaper The Age.
The woman, who cannot be named, said she was “excited and happy” to meet her father.
Court of Appeal Justices Simon Whelan and Anthony Cavenagh, speaking at the man’s appeal to reduce his four-year sentence for incest, said the incident took place when the pair were alone in her house in October 2014.
The man, 38, told his daughter to “give dad a hug” before putting his hands around her waist and kissing her on the neck, The Age reports.