Thomas Markle has told his daughter's husband Prince Harry to "man up and fly down and see me".
Mr Markle, 75, has never met the Duke of Sussex and did not attend his and Meghan's wedding, with Prince Charles walking the Duchess down the aisle.
In a live interview this morning , he spoke of his sorrow of not seeing his grandson Archie and disappointment of not knowing Harry.
"Of course I love my daughter and I certainly would love my grandson - and I'd love Harry, if I met him, I'm sure," he told Good Morning Britain.
The Duke and Duchess of Sussex: Prince Harry & Meghan Markle
During the conversation, he spoke of being "embarrassed" at the pair stepping down from senior royal duties, while he expressed his belief that them leaving Britain "doesn't work".
He said media appearances were the only way he felt he was able to reach the pair - and that he would continue do make them until he heard from them.
Giving a direct plea to his daughter, he said: "I love you and let's sit down and work this out.
"This is ridiculous, we should get together."
Then, in an address to Harry, he added: "Man up and fly down to see me."
Harry, who has long spoken of his mental health battles and been an advocate for others to do so, and Mr Markle have never met in person though have spoken over telephone.
There was some criticism of the use of the phrase "man up" from viewers reacting on social media. One asked if he "seriously" said that and another suggested he could travel to Canada himself should he wish.
Some, however, backed his sentiment and said Harry should approach his father-in-law.
Earlier in the interview, Mr Markle said in hindsight he felt he should have asked Harry to fly to Mexico to speak to him when he asked for Meghan's hand in marriage.
Commenting on his potential to testify in a court case involving the Sussexes and the Mail on Sunday, he said: "If it comes to meeting them in a court room, that's great - at least I finally get to see them."
However he added: "I don't want a face off or battle with them."
Harry and Meghan are both in Canada, having stepped down from their roles as senior royals.
