Caitlyn Jenner's daughters Kendall and Kyle 'inspired' by her bravery in coming out

Kendall Jenner, Caitlyn Jenner and Kylie Jenner pose for a photo as Caitly Jenner displays her Austin-Healey Sprite at the Rodeo Drive Concours d'Elegance on June 18, 2017 in Beverly Hills, California. (Photo by Earl Gibson III/Getty Images)

Kendall and Kylie Jenner have praised parent Caitlyn Jenner for her bravery in transitioning, five years on from the Olympian coming out as transgender to the public.

The athlete, who Kendall and Kylie still refer to as ‘Dad’, introduced Caitlyn to the world to the first time in her Vanity Fair ‘Call Me Caitlyn’ cover shoot.

In conversation with People, 24-year-old Kendall shared: “When my dad came out as transgender, our relationship grew. She could finally be honest with me. We could talk about deep emotions she was feeling through that time. Growing up my dad was not usually one to talk about her feelings so that was a big step for us.”

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Both Kendall and her younger sister Kylie, 22, found confidence when Caitlyn courageously opened up about her transition to the world.

Caitlyn Jenner attends Logo TV's 'Beautiful As I Want To Be' web series launch party at The Standard Hotel on October 27, 2015 in Los Angeles, California. (Photo by Unique Nicole/WireImage)

“Because of my dad’s bravery, I’ve learned to love what I love and not be ashamed of it,” Kendall told the publication.

Meanwhile, Kylie disclosed that her father had “always been” an inspiration for her, from Caitlyn’s Olympic gold medal win to getting her pilot’s license.

 “However, watching her live out her true self has been the most inspiring of them all,” the cosmetics mogul added.

Khloe Kardashian, Kris Jenner, Kendall Jenner, Kourtney Kardashian, Kim Kardashian West, North West, Caitlyn Jenner and Kylie Jenner attend Kanye West Yeezy Season 3 at Madison Square Garden on February 11, 2016 in New York City. (Photo by Kevin Mazur/Getty Images for Yeezy Season 3)

Caitlyn is the biological parent to six children as well as acting as step-parent to ex-wife Kris Jenner’s children Kourtney, Kim, Khloe and Robert Kardashian.

She transitioned at the age of 65, but son Brandon has recently shared how he “wished” she’d done so sooner, considering how much closer they became when Caitlyn transitioned.