In an interview with People magazine, Albert, who is expecting a child with Princess Charlene, said Grace "was a wonderful mother and a wonderful person".
"It was deeply engrained in her to help others," he told the magazine.
As one of Hollywood’s greatest starlets, Grace Kelly left the entertainment industry after marrying Monaco's Prince Rainier III in 1956.
She appeared in many Alfred Hitchcock films including, To Catch a Thief and Dial M for Murder, but she turned down the role in Marnie when she became a member of Monaco's Royal Family.
"Deep down, she would have loved to have played the role in Marnie," Albert said. "But she knew her duties and her commitment to her family were more important."My father never obliged her to give that up or say no to Hitch. He said, 'Listen, it's your choice. Of course, I need you here, and if you think that is what you want to do, then I'll accept that.' He said it was up to her."
Princess Grace died on September 14, 1982, when she lost control of her car after suffering a stroke.