Bobbi Kristina died while under hospice care Sunday at the age of 22.
People magazine said the Houston and Brown sides of the family -- which reportedly don't get along -- arrived separately to the Murray Brothers Funeral Home to pay their last respects.
The Houstons went in to the funeral home first, while the Browns, including Bobbi Kristina's aunts Tina and Leolah and her brother Bobby Jr., waited in their cars for the Houstons to leave.
Bobby Brown was accompanied by his wife Alicia on the sad occasion.
An invitation-only funeral service is to take place Saturday at the Saint James United Methodist Church in Alpharetta, Ga.
Bobbi Kristina is expected to be buried beside her mother, the late Whitney Houston, in New Jersey Monday. Bobbi Kristina died nearly six months after she was discovered facedown and unresponsive in the bathtub at her Georgia home. Bobbi Kristina had been under hospice care since mid-June. Before that, she spent months in a medically induced coma in the hospital and then a rehab center.
The exact circumstances of the medical emergency she suffered in January remain under investigation.
Bobbi Kristina was the sole beneficiary of her mother's reported $20 million estate. Houston died in 2012. She accidentally drowned in a hotel bathtub while intoxicated after years of substance abuse. She was 48.