On the night of March 22 last year, the defendant returned home "stinking of alcohol" before crawling into his daughter's bed, the girl - referred to as X - had earlier told the court.
X told police during investigation she sensed her father had mistaken her for her mother and tried to tell him but was unable to stop the drunken man.
In his own admissions, the father told police he had sex with his daughter thinking it was his wife. He stopped immediately after realising he had mixed up the two.
Y. C. K had earlier been offered the chance to plead guilty to a charge of incest, which carries a lesser maximum sentence of 10 years, so prosecutors would not pursue a rape charge that could result in a life sentence.
Woodcock refused to accept this plea, saying Y. C. K would have a good defence in an incest trial if he relied on having been intoxicated.
However, the father later insisted he would plead guilty to any charge to avoid putting his daughter and wife through any further ordeal. Y. C. K, 59, pleaded guilty to one count of rape on Monday.
Woodcock, reducing the man's five-year sentence by almost half, acknowledged the father's remorse by pleading guilty to spare his daughter and wife from taking the witness box. She also accepted the daughter's view was genuine and noted the father's intoxication was self-induced.