The entertainer's daughter Bindi accused Harris over the phone of sexually molesting her friend and was so furious she "banged her head against a wall" Southwark Crown Court in London heard.
Harris denies 12 counts of indecent assault between 1968 and 1986, seven of which relate to his daughter's friend.
She claims he first assaulted her when she was 13 while on holiday, but he has told the court they had a consensual sexual relationship that did not start until she was 18.
On his third day in the witness box, the 84-year-old was questioned about his daughter's furious reaction when she heard about the allegations, which he said came while he was overseas.
Prosecutor Sasha Wass QC asked the star: "Bindi was beside herself?"
He replied: "I suppose so, yes."
Ms Wass said: "She accused you over the phone of sexually molesting (the alleged victim), didn't she?"
Harris replied: "Yes."
Ms Wass said: "She (Bindi) was in such a state she was banging her head against a wall."
She asked Harris if that had "filtered through" to him.
"She was beside herself with shock wasn't she?" the prosecutor said.
Harris replied: "Yes."
The prosecutor asked if he knew whether Bindi needed counselling at some stage, but he said: "I wasn't aware of that."
In court on Wednesday, Harris was asked by the prosecutor if his "slow walk" into court, with his wife Alwen on one arm and Bindi on the other, was "just for the cameras", to which he replied: "It's to show support."
Ms Wass suggested today there was a "common theme" among the allegations, which included claims that Harris preyed on women as he met them in his public role, abused them with an originally friendly gesture, assaulted them while they could not get away, did it while people were nearby, and then afterwards behaved as if nothing had happened.
But the star dismissed all of the allegations against him as lies on Thursday.
Meanwhile Lonneke Broadribb, 49, a friend of Harris's daughter Bindi, told the court that they had been friends at primary school, continuing into their teens.
She said she got to know Bindi, who was a year older than her, when she was about 10 and would often go over to the Harris home, especially in the summer, as they had a swimming pool.
Miss Broadribb told the court that she had met the friend who claims Harris indecently assaulted her, but only knew her through Bindi.
She described her as "friendly, happy - she wasn't my friend, she was Bindi's friend, but she seemed very nice".
Asked if she had ever seen any signs that the girl was drinking alcohol, she said no.
Miss Broadribb described the Harris family as "warm with each other, very loving, very cuddly, very giggly".
"She (Bindi) had a great relationship with her parents, particularly close to her mum."
Miss Broadribb told the court that she had always been made to feel welcome by the Harrises, and, when asked by the star's defence barrister, Sonia Woodley QC, if she had ever found anything "odd or weird" about them, she said no.
Ms Woodley said: "At any time did you ever have any concerns about Rolf Harris?"
She again replied: "No."
The barrister added: "Did he ever behave in any way inappropriately towards you?"
"No, never," she said.
She told the court that Harris would often greet people with a "big cuddle or a kiss" but said it was affectionate rather than sexual.
"Did you ever feel uncomfortable in his presence?" Ms Woodley asked.
"No, never," she answered.
The trial continues.