Brown, 22, died July 26 while in hospice care after months of being in a medically induced coma, following a near-drowning Jan. 31 in her bathtub at her Georgia home. The circumstances of her initial medical emergency remain under investigation.
"We prayed and hoped for six months ... for something better to happen," People magazine quoted Brown as saying in the season premiere episode of The Real, which is to air Monday.
"But when God calls you, he calls you," he said. "I'm pretty sure her mother was ... had a part with like: 'Come on. Let's get her up here.'"
Brown's current wife Alicia Etheredge clarified, "In the best way... in the welcoming way."
"She was not comfortable by herself, I guess," Brown said of Houston. "She just called my daughter with her."
Houston -- a Grammy Award-winning, pop-music icon -- died in 2012 at the age of 48. She drowned in a hotel bathtub after years of substance abuse. Bobbi Kristina was her only child.