my ex did not see dd from about 18 months untill she was just coming up for 4. to be honest I would not do it at your home. I would simply meet him at the park every other friday for an hour and take it every so slowly. My dd initialy found it all great but then the resentment of having to spend time with him and lack of attachment is a thing that keeps rearing its head. My dd is now 6 and I dont think she now truelly remembers not seeing him, however there are obviouse clues at to the lack of building a meaninfull relationship.
The way I initialy done it was to meet up at mcdonalds or the park or the library together, eventually dd would say dady do this and that with us, so I would say yes, for instance if it was extending the visit from the park to Mcdonalds or from the library to the park. It is important to take it at your dds pace, sometimes then my dd would ask for me not to stay, so I would leave them to it, extending from an hour to a couple of hours.
could he not book a few saturdays off work as a few hours after school will initially be more than enough time however I feel at some point a whole day of afternoon will be necessary to allow them to build a relationship and explore there likes. My local sure start family centre ran a saturday morning fathers club and he would take dd to this, that was great for both of them as there was very little preasure on dd and she made friends and so did he and he could just be along side dd rather than it being OTT conatct for dd.
I will say however dd often does not want to see her dad I have started a thread on this on friday and the best way to manage that is probably just allow dd to have a say in it.
Have you considered what you would do if dd does not wish to see him at all? not sure how I would have managed that but I think at 5 years that may be a likely reaction from her.
I dont think she will neccessarily change in any way but I do feel it requres considered time etc. What will happen if your parents begin to attempt to influence you or DD thais will inevitably cause conflict. I did have mediation with EXp prior to him seeing our dd again just to talk about these areas of conflict and just thrash out between us what we seen as acceptable contact etc as his expectations where different to mine and I had to voice my dds wishes also.
I do hope it goes well and good luck.