The video shows the actor, who appeared somewhat dazed, rubbing the future first daughter's leg, even propositioning her.
Kimmel tried to get Dick to behave, telling him, "Donald Trump will have us both killed."
But Dick persisted, grabbing Ivanka's arm and even asking for a "sloppy wet kiss."
Kimmel then dragged the actor off the set with the help of security guards.
The footage emerged following Dick's arrest for allegedly groping a total stranger on a Los Angeles sidewalk.
Back in 2007, Ivanka laughed off the creepy incident. Now, with the #MeToo movement, it seems the situation would have been handled differently.
"I apologize for that," Kimmel told Ivanka Trump after Dick was booted from the stage. "I'm sorry. I think he may have been drunk."
Ivanka has not reacted to the emergence of the video.