Brown, joined by his wife Alicia on "The Real," said, "It's an everyday process, it's not easy at all."
"God was gracious enough to give me a baby girl in the last two months," he said about welcoming a new baby girl with Alicia in early July.
"We wouldn't wish this on anyone," Alicia said while addressing the audience about Brown's late daughter, who was found unresponsive in her Georgia home earlier this year. She then spent the next five months in hospitals, rehab and hospice before her death.
"We prayed and hoped for six months for something better to happen," Brown said. "After losing my mom, my dad, my ex-wife, and my daughter in last 6 years, only thing I had to lean on was her," he said of his wife.
Brown's ex-wife, Whitney Houston, died in 2012. The hosts then asked Brown his fondest memory of his late daughter.
"Her smile, not just because we have the same smile," he said. "Her smile and her graciousness with loving people. She was so kindhearted, she always took care of her friends ... after 22 years of her life ... I've really learned a lot from my daughters."
The singer and father then spoke about the Bobbi Kristina Serenity House, a place the pop singer is building in honor of his daughter.
"It's for young girls and women of all ages to have place to come when in bad relationships," he said. "I feel it's needed."
Brown then pleaded on camera with the District Attorney investigating the circumstances surrounding the way his daughter was found on Jan. 31 in her Roswell, Georgia home to take a close look.
"I'm not gonna call anybody out," he said.
Brown, an aspiring actress and singer, was found in her bathtub by a friend, Max Lomas, and her partner Nick Gordon.
No criminal charges have been filed as of yet and the investigation is still ongoing, police have said.
In a separate civil case, the estate of Bobbi Kristina Brown filed wrongful death charges against Gordon. His legal team filed to dismiss those charges last week, calling the accusations made against him as "false" and "frivolous,” according to paperwork obtained by ABC News.
"[The lawsuit] contains several unsupported conclusory, untrue, criminal accusations," the motion reads.