Bill and Jane Pitt were spotted at the local airport and will join their son and Angelina Jolie at the Burning Shore Lodge in Swakopmund.
The celebrity couple's new daughter was born last Saturday.
He said, "I'm almost unable to describe how deeply happy I am for her (Shiloh's) parents and so happy to have this new little one in the world."
When MSNBC news anchor Rita Cosby asked him if he had hope that he would see his new granddaughter he said, "I can just think that one day, I'll just say, ‘Hey Shi, come over here.' You know?"
The actor hasn't spoken with his daughter in four years and has not met her adopted children Maddox and Zahara.
Voight hasn't sent Shiloh a baby gift, saying, "This little one can have anything she wants of me, of course.
"As she grows older, hopefully I'll be able to give her everything that I've got."
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