Kris, 59, visited Caitlyn at her Malibu home Tuesday, a source close to the family tells PEOPLE.
Pictures show the Keeping Up with the Kardashians momager's black Cadillac Escalade emerging from the driveway at Caitlyn's house.
Married for more than 20 years, the Jenners filed for divorce last September. Caitlyn – formerly known as Bruce – revealed her transition from male to female June 1 with her now iconic Vanity Fair cover.
The Olympian, 65, and Kris last discussed their issues and Caitlyn's transition on camera during the second part of E!'s special Keeping Up with the Kardashians: About Bruce.
"I just miss Bruce. And that's going to take me a minute to mourn that relationship," Kris said. "You think you're going to grow old with somebody, and they drastically change over the course of just a few years."
"I still love you, baby," Caitlyn replied. "Is there anything I can do now to make it better for you?"
In response, Kris asked Caitlyn to "live the happiest life you can live. …That's all I care about. That you can find the peace you've been looking for for so long."
Though Kris participated in and was interviewed for Caitlyn's Vanity Fair article, the extent to which she knew about Caitlyn's path to transition remains somewhat mysterious, and the two disagreed on several points.
While she admits knowing that her ex had undergone hormones back in the early '80s, she told the magazine that in her mind, "there wasn't a gender issue. Nobody mentioned a gender issue."
According to Caitlyn, though, Kris witnessed her wearing women's clothing while they were still together, something Kris denies.
Last month, Kris told Extra when asked about Caitlyn that she thinks "someone following their dream is truly inspirational to a lot of people … you have to do what makes you happy."
Since the About Bruce special and VF article, Caitlyn's journey has come a long way – she's currently the star of her own eight-part docuseries, I Am Cait, which follows her life post-transition.
In the premiere episode, which aired on Sunday, Caitlyn mentored transgender youth, bonded with her youngest daughter Kylie and of course, built her new wardrobe.
RELATED: Caitlyn Jenner's Message to Transgender Youth: 'We Are All Beautiful'
I Am Cait airs Sundays at 8 p.m. ET on E!