We revealed last year how the 84-year-old TV legend met Abi Harris and grandson Charlie for the first time.
Now, Sir David has shared how they toasted her birthday earlier this month and plans for a festive day together, plus a party for his 85th in February.
He says: "Abi came round to us for Sunday lunch on her birthday and we gave her a cake - Charlie lit the candles - and gave gifts.
"For whatever reason out of our control, our lives have only just come together and so it does feel poignant celebrating birthdays after so many years of not being able to share." In an interview to promote his new memoir, he adds: "The shock of the news that I had an undiscovered daughter is wearing off but, like I say in the book, we are slowly getting to know each other and things are working out on this voyage of discovery." In the book, Sir David expresses his "wonder and amazement, through anxiety and heartache, to fear and outright panic" when he learns about Abi through an "astonishing" letter she sent to him.
Sir David has daughter Sophie, 23, with wife Gill Hinchcliffe, who he married in 2005.
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But last year it was revealed a paternity test confirmed Abi, 54, was also his daughter through a brief relationship with the late actress Jennifer Hill.
They hooked up after starring in a London stage production of Under Milk Wood in 1970.
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