Seeing estranged brother for the first time......?

ok so im 16 (girl), and havent seen my half brother in like 8-9 years. he had a falling out with my dad and they never spoke since then. he randomly showed up at my house today when my parents werent home. he said he realized lifes too short and wanted to see me and just to talk. we talked for about 20 min, he gave me his phone number and email and said to call or email whenever and we could have lunch or something. i told him he should try calling my dad and patch things up but he just said "well its a long story and history" i texted him and told him how nice it was to see him and that ive missed him. hes 32, married with kids. i dont know what to do, like i want to have a relationship with him but its just so weird... how do i go about starting a normal relationship?