Political satirist Bill Maher has been criticized for an incest joke about Ivanka Trump

Political satirist Bill Maher has been criticized for making an incest joke about Ivanka Trump and her father on his show.

While on his HBO program Real Time with New York magazine reporter Gabriel Sherman on Friday night, the 61-year-old made the incest joke about first daughter Ivanka Trump's relationship with her father President Donald Trump.

He said: 'What do you make of Ivanka and her efforts to sort of humanize her father?

'We see all this misogyny at Fox News, we see it in Donald Trump himself. A lot of us thought, Ivanka is gonna be our saving grace.'

The political commentator then took it a step further and mimicked Ivanka performing a sex act on her father.

'When he's about to nuke Finland or something, she's gonna walk into the bedroom and—"Daddy, Daddy…'Don't do it, Daddy,"' said Maher.

'Is that how you see Ivanka?' Maher asked Sherman who, red faced, replied: 'No.'

He said: 'A lot of us thought, Ivanka is gonna be our saving grace. When he's about to nuke Finland or something, she's gonna walk into the bedroom and—"Daddy, Daddy…'Don't do it, Daddy."' President Donald Trump and First Daughter Ivanka are pictured at a NASA video conference in April

'Is that how you see Ivanka?' Maher - seen with Donald Trump at the 56th Annual Primetime Emmy Awards in 2004 - asked Sherman who, red faced, replied 'No.'

Sherman - one of the leading media voices to have contributed to the outing of Roger Ailes at Fox News - added: 'I think, again, she's on the margins trying to save us—to the degree that she can—but Donald Trump doesn't listen to anybody, including his own family'

Sherman, one of the leading media voices to have contributed to the outing of Roger Ailes at Fox News, added: 'I think, again, she's on the margins trying to save us—to the degree that she can—but Donald Trump doesn't listen to anybody, including his own family.'

Some social media users were quick to respond to the crude joke, with one writing: 'I can't believe @billmaher just did that... Ivanka Trump... @RealTimers.'

This isn't the first time Maher has told an incest joke about Ivanka and Donald.

On November 2, the comedian performed a stand-up set at the Los Angeles Largo comedy club on Facebook Live where he cracked a joke many found as inappropriate.

Some social media users responded to the joke with disgust. Pat wrote: 'I can't believe @billmaher just did that... Ivanka Trump... @RealTimers'

On November 2nd, the comedian performed a stand-up set at the Los Angeles Largo comedy club on Facebook Live where he cracked a joke many found as inappropriate

He said, again mimicking a sex act: 'Be nice to Ivanka, she's our only hope—because she seems like she actually knows rationality, but she's [Trump's] kid, and she's the only one who can get to him, and you know he loves her'

He said, again mimicking a hand job: 'Be nice to Ivanka, she's our only hope—because she seems like she actually knows rationality, but she's [Trump's] kid, and she's the only one who can get to him, and you know he loves her.

'If he's going to do something nutty, we're going to depend on Ivanka going into that bedroom. "Daddy, Daddy! You have to apologize for that tweet where you called Angela Merkela a 'c***.' You have to apologize, Daddy!"'

POTUS has reportedly said of his daughter that he might 'be dating her' if they weren't related.