Bob tells HIS side of the story: Steve Irwin's father releases a tell-all memoir about the tragic 'Crocodile Hunter'... but will he address the family feud?

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Steve Irwin's father Bob will release a memoir about his relationship with the late TV star and conservationist. 

It is possible The Last Crocodile Hunter: A Father and Son Legacy will also address the Irwin family feud which surfaced last year.

In December, Bob confessed to the Herald Sun he was 'not in contact' with his grandchildren Bindi or Robert.

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Tragic loss: Steve Irwin's father Bob will release a memoir about his relationship with the late 'Crocodile Hunter'. Both pictured in September 2003

Bindi later told Daily Mail Australia her grandfather became reclusive in the years following Steve's death in 2006.

'Everyone deals with grief differently,' she said. 'When my dad passed away (Bob) chose to distance himself from everything that dad loved the most.

'At the moment we’re really just respecting his wishes because he hasn’t had anything to do with us for a long time and he decided his own path.'

Will the book address the family feud?: After Steve passed away in 2006, Bob lost contact with his grandchildren Bindi and Robert. Pictured in 2004 with Steve's wife Terri

It would seem Bob's memoir, co-written with friend and colleague Amanda French, will tell his side of the story.

He said in a press release: 'There are so many people who have been inspired by Steve Irwin. I am really, really proud of that. 

'I hope that sharing these stories can be a pertinent reminder of the enormity of his legacy, a legacy that has not only taught us the importance of reconnecting with our environment but to be passionate in doing so.'

'Everyone deals with grief differently': Bindi (pictured with her father in 2003) revealed last year her grandfather 'chose to distance himself' from the family after Steve's death

'There are so many people who have been inspired by Steve': Bob's memoir will celebrate the life and work of his famous son, who was known for his passion for wildlife

While preparing the book, Bob discovered an unopened letter from Steve written 12 years before he was killed by a stingray.

The emotional note was addressed to his parents and reveals a 'bloke' who was 'finally starting to figure it out' at the age of 32.

'Probably one of the most unfortunate things in a 'Bloke's Life' is that it takes over 30 years to realise how essential you have been to build my character, my ethics and, most importantly, my HAPPINESS,' he wrote in the letter published on News.com.au.

'At 32, I am finally starting to figure it out. In good times and in bad, you were there. Your strength and endurance to raise me will not go unrewarded. My love for you is my strength!

'For the rest of my life I will reflect on the unbelievably GREAT times we've shared and will continue to share. You're my best friends!'

Heartbreaking: While researching the book, Bob discovered an unopened letter from Steve written 12 years before his death, in which he pays a poignant tribute to his parents

Loss: Steve's son Robert was just two-years-old when the Crocodile Hunter died. His daughter Bindi was eight. Robert and Steve pictured in 2005

Bob, 77, told the publication the unopened letter, addressed to himself and wife Lyn, fell out of a book while he was researching his memoir.

A message on the envelope read: 'Please be happy to know that your strength and wisdom have been passed on.'

Just 12 years after writing this letter, Steve passed away in the waters off Port Douglas in Far North Queensland at the age of 44.

The 10th anniversary of Steve's tragic death falls this Sunday, on Father's Day.

His daughter Bindi was just eight years old. Her brother Robert was not yet three.

In the years since, Steve's wife Terri and children have taken up where Irwin left off, as powerful voices for conservation in Australia.

Bindi, now 18, says she's proud to be able to build upon her father's legacy.

Following in his footsteps: Bindi, now 18, is proud to be able to build upon her father's legacy

'We can still feel him around us, and we hope he would be proud of us,' she told the Nine Network this week.

Robert, now 12, added: 'It is incredible that we get to carry on where he left off.'

The family hasn't said how they'll mark the 10-year anniversary of Irwin's death on Sunday. 

They have always kept the details of their grieving process private.

Back in 2011, Bob offered a glimpse of the rituals he depends on to keep the memory of his son alive.

'If people think I'm crazy, that's fine': Bob, 77, has confessed he still talks to his late son

He spoke of his evening walks along a well-worn track from the back of his farmhouse to a fire pit where he thinks of Steve.

'It's something I do privately. I get messages from Steve and I don't mind admitting I talk to him,' he told AAP.

'If people think I'm crazy, that's fine. I talk to the animals too.'

He also revealed: 'It's something I'll never completely get over. I don't think you do.

'But what you do is learn to live with it. I know Steve's out there and he helps me do what I've got to do.'

Speaking out: It would seem Bob's memoir, The Last Crocodile Hunter: A Father and Son Legacy, co-written with friend Amanda French, will tell his side of the story