Rosie, 53, took to Twitter to mourn the loss of her father.
"Through him - with him - in him ..." Rosie cryptically tweeted with a mural that featured retro photos and the word "hurts."
She also quoted song lyrics from Florence + The Machine's hit single "St Jude".
"And I'm learning, so I'm leaving/ And even though I'm grieving. I'm trying to find the meaning/Let loss reveal it," she added.
Rosie has always been open about her strained relationship with Joseph after her mother died from cancer back in March 1973.