When is it the right time to meet the family

So here's the story I have a 4yr daughter. I met my boyfriend about a year in a half now and we have had our ups and downs but in the end we still love each other. He has never met my daughter, he has talked to her on the phone sometimes cause she wants to tell him a story about her day. He has never met my family or at least my parents and same goes for me I have never met his family but I feel like it's the right time to meet the parents but not sure how to tell him any advice??