The performance with Robin Thicke, at the MTV Video Music Awards, saw Cyrus twerking and flirting with the fellow singer. It got her a lot of negative publicity.
Cyrus' father says he would have done the same thing, reports femalefirst.co.uk.
Cyrus took to Twitter to convey a message from her father to her followers on the microblogging site.
"Mile, if twerking would have been invented and I had a foam finger I would have done the same thing you did - dad," Cyrus posted on behalf of Billy Ray.