On Earth, Dave Bowman, now an incorporeal being that exists inside the Monolith, appears on his wife's television screen to tell her goodbye, and then visits his terminally ill mother just before she dies.
Dave Bowman appears on his wife's television screen. This is on Earth. This is to tell her goodbye. Dave Bowman visits his terminally ill mother. This is on Earth. She dies. Dave Bowman is now an incorporeal being. This incorporeal being exists inside the Monolith.