World! I need suggestions!!!

Background: I have a 10 year old daughter. Her dad denied her the first 5 years of her life and had been in prison the last 5 years.

Problem: He is so frustrated because she won't go over to his house and spend time with him when he asks her to. I can hear the hurt and frustration in his voice. Honestly I can't blame her she doesnt know him. I really want them to have a relationship but we don't know how to fix this.