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Caitlyn Jenner's mom Esther Jenner is just one of the girls!

Esther joins Caitlyn, her sisters and her friends for a lunch in Sunday's episode of I Am Cait and tries to get to know all of the new people in Caitlyn's life. Overwhelmed with happiness, Caitlyn can't believe that she could gather such a group together and have it be so wonderful.

"I never thought the day would come that actually I would be with my two sisters, a bunch of trans women and my 89-year-old mother, and everyone having a good time," Caitlyn gushes in the exclusive clip.

"It's just a good, comfortable feeling."

Esther talks to Candis Cayne and other transgender women about their transitions, and even asks when Candis became, as Caitlyn puts it, "full-time." Candis reveals she fully transitioned in 1995, which leaves Esther amazed.

Esther Jenner, I Am Cait

E!

As has been reported in the past, Esther has supported Caitlyn from the very beginning. "I love her," Esther told People. "And she's happy. That's all that matters."

She even lauded Caitlyn's bravery, telling the mag, "It takes so much courage to do what she's doing."

Sitting at a restaurant, surrounded by such a group of eclectic women, Esther realizes that while she has come a long way since Caitlyn first made her debut on Vanity Fair, she still has a ways to go.

"I got so much to learn," says Esther, laughing.

"I think for the first half of our lives our parents teach us," says Caitlyn's friend Zackary, "and then we teach our parents."

Watch the clip above to hear the women open up about their own experiences to Esther!

Tune in to I Am Cait Sundays at 9PM, only on E!