US President Barack Obama has written a letter for his daughters on the occasion of Father's Day on Sunday, saying that he could not be a perfect father.

"I know I have been an imperfect father. I know I have made mistakes," said Obama in the letter that will be published in a magazine reported people.com

"I drove Michelle and newborn Malia home from the hospital nearly 11 years ago and I think about the pledge I made to her that I would give her what I never had. And that if I could be anything in life, I would be a good father," he added.

Obama has two daughters Malia,10, and Sasha, eight.