Miley Cyrus and her father, Billy Ray Cyrus, have had a famously tumultuous relationship, but Miley says that things have improved.

In a recent interview with Rolling Stone, Miley says that she sees her parents about once a week.

"My dad's always home," she shares. "He's like, 'There's nothing for me to do out here.' So he chills at the house all day, and I go see him."

One time she went out to her backyard and saw a shadowy figure in the bushes. "I thought I was gonna get murdered," she says, "and then I see my dad climbing my fence. He's like, 'Sissy! I found a secret path where I can get from my house to your house without having to go on the street!' I'm like, 'Dad, you definitely just trespassed through someone's yard.'"

In 2011, Billy Ray expressed concern for Miley’s partying habits in an interview with GQ, saying he was upset about her 18th birthday being held in a bar.

He also said that if he could, he would go back in time and stop Miley from being in 'Hannah Montana.'

"It destroyed my family,” he said. “I'll tell you right now -- the damn show destroyed my family … I'd take it back in a second. For my family to be here and just be everybody okay, safe and sound and happy and normal, would have been fantastic. Heck, yeah.”

But now that she's firmly established in her own adult life and career, the 20-year-old says things are easier. “We have a different relationship now,” Miley continues. "Now I hear all these crazy stories from him. Like, I never knew my dad smoked weed. I thought my dad was a freak. Now I know he was just stoned."

For his part, Billy Ray has mellowed considerably in his attitude toward his daughter. She most recently stirred up worldwide controversy with her racy performance at the MTV Video Music Awards, but the country singer didn't let it faze him.

"She's just Miley," he told Piers Morgan in an appearance on CNN. "She's an artist. She's real. I think that what's happened over the years, Miley has been reinventing her sound. She's evolving as an artist herself. I think that all of what everyone is calling controversy now, that's still my Miley."