'We have arrived', daughter announced (7)
I believe the answer is:
ushered
'announced' is the definition.
(as in to usher in a guest)
'we have arrived daughter' is the wordplay.
'we' becomes 'us'.
'have' is a charade indicator (letters next to each other).
'arrived' becomes 'here' (I can't justify this - if you can you should give a lot more credence to this answer).
'daughter' becomes 'd'.
'us'+'here'+'d'='USHERED'
(Other definitions for ushered that I've seen before include "Conducted" , "Showed to a seat" , "Showed people to seats as in cinemas or theatre" , "Escorted" , "Led" .)