As the son of Olympian Bruce Jenner and pageant queen Linda Thompson, Brody Jenner lived in the lap of luxury as a self-described Prince of Malibu. Riches weren't everything, however. After the couple ended their three-year marriage in 1984, the future Hills star rarely saw his biological father.

Brody, now 29, confronts the decathlete, now 63, in the June 9 episode of Keeping Up With the Kardashians. After a friendly lunch with brother Brandon, 32, and half-sisters Kendall, 17, and Kylie, 15, the former MTV reality star attempts to repair their relationship.

VIDEO: Watch Brody Jenner confront Bruce Jenner on KUWTK

"The way I see Bruce with Kendall and Kylie and Brandon, I'm actually so happy for them," Brody says in a confessional. "I think Bruce is an incredible human being and I think that Bruce is an incredible father. He just wasn't a great father to me." (Thompson, 63, married music legend David Foster in 1991 -- the same year Bruce married talent manager Kris Jenner. Brody and Brandon spent the majority of their youth in Thompson's custody; she has since divorced Foster.)

Thompson watched the clip via Us Weekly and praised her youngest son for speaking the truth. "I commend Brody's honesty," the former pageant queen tweeted June 6. "There is too much hypocrisy in this world."

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Hours earlier, Thompson -- who's made cameos on The Hills and The Real Housewives of Beverly Hills -- also mentioned one of Brody's most famous ex-girlfriends via the social networking site. "I have always loved Lauren Conrad's quote: 'I believe in forgiving and forgetting. . .I forgive you. . . Now I'm going to forget you.' Cool, Lauren!"

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(The actual quote comes from the third season of MTV's The Hills in 2007. During a confrontation with ex-roommate Heidi Montag, the 27-year-old fashion designer said, "The only thing really that there is to do is forgive and forget. So I really do, I want to forgive you -- and I want to forget you.")

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Will Brody and Bruce come to an understanding? Tune in for an all-new episode of Keeping Up With the Kardashians on Sunday, June 9, at 9 p.m. EST on E!

This article originally appeared on Brody Jenner Confronts Bruce Jenner, Gets Support From Linda Thompson