I'd echo what others have said. I'd think very carefully about why your daughter has suggested counselling, for what, on the surface, seems to be a temporary house share that could be resolved over coffee as others have suggested.
My daughter came out with some comments during a very stressful time, that I will never be able to forget and which destroyed any positive relationship I can have with my son-in-law. From her subsequent behaviour I know she deeply regrets saying what she did and on the surface we all have a good relationship now, but once something has actually been said, nothing can erase it and it colours everything subsequently.
There are some things in any relationship which are best left unsaid & brutal honesty, especially about events in the past which cannot be changed, can be difficult for everyone to live with afterwards. Some things cannot be healed (though it is an unfashionable thing to say these days) and simply have to be lived with in the best way you can.
I don't want to discourage you or anyone who might find counselling helpful, but it's important not to be too rosy eyed about it as a cure-all. You have to be prepared to find it painful. If your daughter needs to say things through a third party and feels she can't just chat through them comfortably with you, then they are going to involve things that are hard to say and hear. However with goodwill on both sides you can achieve much. Just be prepared and honest with yourselves first, good luck with it and be careful of your choice of counsellor!