She was greeted by Dick, who asked Ivanka for a "big, wet kiss" right off the bat Kimmel later told Extra.
Things then quickly went downhill with Dick rubbing his hands up and down Ivanka's thigh and knee while she tried to stop the unwanted touching as politely as possible.
Kimmel, to his credit, swooped in to stop Dick from touching Ivanka and then continued the interview.
It was less than a minute later than Dick struck again however, first trying to grab at Ivanka's ponytail and then touching her arm.
That is when Kimmel got out of his chair and went over to Dick while summoning security to join him on stage.
He and a security guard then lifted Dick off the couch and dragged him off the stage.
"It was time for Andy to go, so I escorted him out by his feet," Kimmel later told Extra.
He also said that Dick was not at all fazed by how things unfolded that night.
"He's Andy. He's not upset. He's not apologetic. He's just nutty," said the host.
"He always makes me a little uncomfortable. You have no idea what he's going to do next."
Dick then had the audacity to make light of the time he sexually harassed Ivanka back in December.
"The time I 'groped' Trump's daughter, Ivanka, on Jimmy Kimmel Live," wrote Dick.
"Her legs were sparkling, and I was trying to see if the glitter would wipe off. I also mistakenly thought she would date me. I was jokingly carried off by security."
He then tried to equate his behavior that night to President Trump's actions.
"Is anybody going to carry Trump off? No joke. Confusing times."
