Contact father or not?

I have been estranged from my Father for some years now. I have since married & have just given birth to a daughter who is the first grandchild on both sides. All grandparents are over the moon and I am unsure whether to invite my Father into our lives to meet his new grand daughter. How do I break the ice? I really don't care much for the man but my husband wants our daughter to know grandparents as he never knew his. I'm worried if I open the door to communication that he'll annoy the cr ap out of me. What should I say if I call him and how should we meet? I really don't want him in my house. Ideas?