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Read Bruce Jenner’s Inspiring Father’s Day Message to Kendall and Kylie

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One of the biggest questions surrounding Bruce Jenner’s rumored gender transition is how it might affect his relationship with his family. “Those are the only ones I’m concerned with,” the Keeping Up With the Kardashians star says in a promo for his sit-down interview with ABC’s Diane Sawyer, which is expected to address months of speculation about Jenner’s personal life when it airs Friday night. “I can’t let myself hurt them.”

In a 2013 Father’s Day letter published on TIME, Jenner advised his children—namely daughters Kendall and Kylie—to embrace change, no matter what form it takes. “That’s the thing I’ve learned to value most: be true to yourself, be your own person,” Jenner wrote. “Trying things outside of your comfort zone is essential, because your ability to grow as a person is directly related to the amount of insecurity you can handle. So be strong and fearless on this journey we call life.”

Read Jenner’s complete letter, below:

To my two precious little girls, Kendall and Kylie:

I have learned so much about raising kids over the last 34 years. You guys are my ninth and tenth children, and my fifth and sixth girls to raise. Every girl has been totally different, both in personality and lifestyle. And that’s the thing I’ve learned to value most: be true to yourself, be your own person—and be caring to others, as well.

You should also develop a passion. I don’t care what that passion is. You just have to find something that makes you excited to wake up in the morning and start your day. That is true success. Brandon with his music, Kimberly with her business and Kourtney with her dedication to her family—these are all great examples to follow.

Another key to life is picking the right partner to share it with. I certainly have learned that is really difficult to find, because people change. Your mom and I have been together for 23 years, and our relationship has constantly changed and evolved. But we have been able to make it through those adjustments because of a deep love and caring for each other. We are still as committed as ever. Go out and find that person who makes you a better person, and vice versa.

I’m so proud of the two of you. I see you both have a caring and enthusiasm for life. But in the future, you will face obstacles. Don’t let them scare you. Fear is part of the game. Trying things outside of your comfort zone is essential, because your ability to grow as a person is directly related to the amount of insecurity you can handle. So be strong and fearless on this journey we call life.

Dad

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Write to Nolan Feeney at nolan.feeney@time.com