But he has now told of his joy at discovering he is dad to Abi Harris and grandad to her little son, Charlie.
And Sir David said once he, wife Lady Gill White, 62, and 22-year-old daughter Sophie got over the bombshell news, they welcomed the pair into their family with open arms.
The 83-year-old Only Fools and Horses star is now making up for lost time by building a bond with Abi born in 1970 after her actor mum Jennifer Hill had a brief relationship with him - and 10-year-old Charlie.
And it was revealed Abi started to suspect he was her biological father after hearing about his time with Jennifer and then realising she had the same shaped nose as him.
Sir David said: "To say it was a surprise to find out I had a daughter from years ago is an understatement.
"However, on settling with the news, I am delighted that I am now able to get to know Abi and so we meet up when we can.
HOLIDAYS
"My wife, Gill, and daughter, Sophie, have been very supportive and understanding and have embraced Abi and welcomed her and her young son into her now wider family." Abi, who is also an actor and Charlie even spent some of the festive period with Sir David at his home in Ellesborough, Bucks.
They played board games and the youngster was given a John Lewis Build Your Own Electronics Set as a Christmas present by him.
During visits, Sir David invites his grandson into his workshop. The pair repair items and he is introducing the boy to the world of model rockets which he launches on fine days.
Charlie also enjoys helping his grandad collect eggs from his brood of chickens.
A source close to the family said: "David's very sanguine and accepting.
"It seems like an impossible task for everyone, you can't make up for lost time. That's just a regret everyone has to carry.
This story is from the March 28, 2023 edition of Daily Mirror UK.
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This story is from the March 28, 2023 edition of Daily Mirror UK.
Start your 7-day Magzter GOLD free trial to access thousands of curated premium stories, and 8,500+ magazines and newspapers.
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