Kendra Wilkinson on Her Emotional Reunion with Her Father: 'I'm So Glad I Took That Leap of Faith' (VIDEO)

In a new WatchIt with Kendra and Hank clip, the former Playboy model calls her estranged father Eric "my twin"

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Each week, Kendra Wilkinson has been reliving the emotional turmoil of her estrangement from husband Hank Baskett in the wake of his 2014 cheating scandal. But this week finds the former Playboy model in a much happier place.

In an exclusive clip of Friday’s Kendra on Top spin-off WatchIt with Kendra and Hank, Wilkinson reunites with her father Eric after decades apart.

“He’s my twin,” she tells Baskett, 32, with whom she has apparently reconciled.

As father and daughter hug, Baskett marvels, “I hear your heartbeat.”

Interestingly enough, even though an earlier episode saw Wilkinson insulting her husband by comparing him to her father, it was Hank himself who inspired the reunion.

Wilkinson, 29, previously told PEOPLE, “If it wasn’t for this mess with Hank, I would have never had the courage and the strength to go to my dad. I hadn’t seen him in 20 years, but I had no fear anymore. And I couldn’t be more proud of myself. I am so excited that I did that for myself as a human being. And we’re still in contact. We’re talking almost every day, emailing each other almost every day, and sending each other photos.”

On WatchIt, Kendra adds, “I’m so glad I took that leap of faith. I’m so glad I took that jump. It feels so good. If you face your fears, there’s a gift for you.”

WatchIt with Kendra and Hank airs Fridays (9 p.m. ET) on WE tv.

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