Caitlyn Jenner has said she was overcome with emotion when the sex on her driver's licence was changed after undergoing gender reassignment surgery.

During her debut as a panelist on Loose Women on Thursday, the former Olympic champion who was previously married to Kardashian matriarch Kris Jenner, admits the transition from Bruce to Caitlyn was "tough at first" but she said that getting documentation changed officially was a joyous occasion.

"The first time I got my driver's licence, I had the gender marker changed and when I saw it I started crying because Bruce was a good person," she said.

"I don't know, especially because I could get my gender marker changed all the way to my birth certificate. It was kind of tough at first – he raised great children and all of a sudden he was gone, and it was hard. In so many ways I didn't change that much.

"Little Bruce still lives inside and at first I thought you can't do that... I've flown aeroplanes, I've raced cars, so the first thing I did as Caitlyn, I raced a car."

Referring to her journey and decision to transition, she added: ''It was a long journey for me! I never knew I would actually ever make it, but I did.

''I had to raise all my children, I had so many things to do in life and then finally I got to the point, I was still dealing with the things I was dealing with when I was that big [mimes height of a child] and I'm thinking, 'What the heck am I going to do with my life?'

''So here we are today and life's good, baby. Life is good.''

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Caitlyn said she was asked by her reality star daughters Kylie and Kendall what to call her, saying: "Yes in fact one of the first things they said, as I remember Kendall and Kylie, especially those two I have been so close to and as I continue to be close to, said, 'Oh my god, what do we call you?'

"And I looked at them and said, 'Dad.' I said, 'I'll always be your dad, I mean, to my dying day I'll always be your father so I have no problem with you calling me that.'

"Now, within the community, some people don't like that and they go, 'Oh, you've got to change,' but for me everybody does it differently and I'm not saying that everybody else is doing it wrong because they aren't.

"They're doing whatever is right for you, and for me having my children still call me dad, is fine."

Loose Women airs weekdays at 12.30pm on ITV.