A man was jailed yesterday for molesting his six-year-old daughter while on a day out on his boat.

The man, who cannot be named for legal reasons, removed the girl's underwear and lay naked on top of her, rubbing himself against her.

Yesterday he was jailed for three years for the offence, which took place on a date between September 29, 2006, and December 31, 2007.

Crown counsel Larissa Burgess told Magistrates' Court the man took his daughter out on a day trip on his boat, but she felt tired and fell asleep.

She woke up to find him lying naked on top of her. He had pulled down her shorts and underwear and was moving "up and down" against her with his genitalia exposed.

The girl claimed he then masturbated his penis with his hand, ejaculating on to her leg.

In April of last year she disclosed to a friend and a school counsellor what had happened. The matter was referred to the Department of Child and Family Services for investigation, and then the Police.

The man, now 45, was interviewed by Police in September. In January he pleaded guilty at Plea Court to sexual exploitation of a person while in a position of trust.

Ms Burgess told the court the girl was "mad at the accused for what he had done to her and felt he should be locked up for it".

She was six at the time of the assault.

Ms Burgess said: "He admitted rubbing his penis on his daughter's vagina but did not say he was 'humping' her. He said he had consumed alcohol on the day in question but he knew what he had done was wrong."

The defendant told Magistrates' Court: "I want to say I'm very sorry. Deep down in my heart I didn't mean to do that. I'd been under a lot of problems, and the daughter's mother, we just didn't get along with each other."

He said he had been attending counselling for what had happened and also "for my drinking".

Senior Magistrate Archibald Warner said: "I must consider your guilty plea, which is of particular importance in a case like this, in at least that it indicates some remorse, if not caring for your own daughter in that she won't have to come to this court to give evidence."

But he added: "It is repulsive, almost animal-like on the part of you to your daughter."

After considering a Social Inquiry Report, Mr. Warner said: "In all the circumstances the appropriate penalty is three years' imprisonment from today."

The defendant was also sentenced to three years' probation on his release.