So...

you want to see your grandkids? I can tell you how you can do that.

Stop talking to the press. Refuse to comment on your daughter, her private life, or her children in any way, shape, or form to reporters.

Write your daughter a letter and sincerely apologize for all the dumb shit you have done and promise you won't do it again. Spell the children's names correctly in the letter.

Keep your mouth shut publicly for 6 months, minimum.

Or you could just keep talking.

Depends on whether you want your family or face time on Entertainment Tonight.