The 39-year-old television personality told Bravo's Personal Space that raising sons Preston and Jayden with Spears has gotten smoother over time.
"You fall into your routine and it's really easy now," he said. "It wasn't always easy, but it's a lot easier now."
Federline and Spears split in 2006 after two years of marriage. The pair battled for custody of their sons following Spears' highly-publicized breakdown in 2007, but have since worked out a shared arrangement.
"We have two beautiful children. The way that everything has turned out, everybody's happy," Federline told Access Hollywood in 2015.
Federline is also dad to daughter Kori and son Kaleb with ex-fiancée Shar Jackson, and daughters Jordan and Peyton with wife Victoria Prince. He and Prince, a former professional volleyball player, married in 2013.
"I'm used to not having all my kids, and this is gonna be one of those years," Federline told Personal Space of not having Preston and Jayden for Father's Day. "When you are co-parenting you have to be willing to give up some of the things you would really like to do. "
"Having six, it feels like you're trying to control a basketball team," he confessed. "But it's worth it. All my kids are great; they get along."