Gregg DeGuire/WireImage
November 05, 2014 03:20 PM

After being publicly humiliated by her husband, Hank Baskett, earlier this year, there’s a new man in Kendra Wilkinson‘s life – and no, it’s not a new beau. It’s her father.

In an exclusive clip from this Friday’s episode of Kendra on Top, Wilkinson invites the cameras to witness her reunion in Costa Rica with her estranged dad, Eric, who she hasn’t seen in two decades.

“Every single year I think about my dad,” Wilkinson recently told PEOPLE. “I wondered, ‘Do I want to go reunite with him on camera?’ Before this drama happened, my dad said he would rather do this in private. But when this scandal hit with Hank, he called me right away and was like, ‘Bring the cameras.’ ”

Wilkinson added that it was actually the incident with Hank that drove her to her father in the first place. “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.”

While Wilkinson’s marital woes are still playing out both in real-life and onscreen, the reality star is happy that she can at least put some family drama to rest. “It was the most important, most amazing week of my entire life,” she says.

Watch the exclusive clip below.

Kendra on Top airs Fridays (9 p.m. ET) on WE TV.

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