An estranged father raped the pregnant daughter who had tracked him down after 20 years apart and invited him to stay in her home, a court has heard.

The Melbourne woman, who cannot be named, began searching for her father in 2014 and eventually found him in Queensland.

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Despite discovering he had a history of violence and had been jailed for assaults, she invited him to visit her and her family at their home.

The father, his partner and their son arrived at the woman's home in October 2014, and stayed in the spare room.