The 67-year-old's daughter Dandelion was brought up by Keith's mum Doris after her mum, Anita Pallenberg, and dad were not able to take care of her.
She later decided to use her middle name Angela as her first name and she is now eight months pregnant with her first child with partner Stuart.
According to UK newspaper Daily Mail, the pair were recently spotted out near her home in West Sussex.
Angela, now 39, lives near to Keith's home Redlands as well as her mum Anita, who lives nearby with her brother Marlon.