Oliver Bearman has confirmed that he sent a message to Esteban Ocon after the Frenchman was dropped from the team in Mexico.
Haas announced on Saturday morning in Mexico City that Ocon would be replaced by Ryo Hirakawa for the remainder of the weekend.
The team did not provide a conclusive reason, insisting only that it was not related to illness.
Ocon clarified that there was no incident of physical violence that led to the benching, after a report appeared in the media.
Bearman stated he was unaware of what occurred between the team and Ocon, but revealed he made sure to reach out to his team-mate.
"I sent a message to Esteban," Bearman told media including RacingNews365.
"It's a really tough situation, and I don't know exactly what's happened, if I'm completely honest with you.
"It's never a happy situation when these situations occur."
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Hirakawa 'very happy' for Hirakawa F1 opportunity
With Ocon sidelined, Hirakawa will make his grand prix debut in unexpected circumstances, and is the oldest rookie to race in F1 since Andre Lotterer in 2014.
The Japanese driver qualified in 18th place, but blamed traffic for missing out on a spot in Q2.
Bearman stated he has been assisting his new stable-mate as much as he can ahead of the race.
"All I can say is that I've been helping Ryo as much as possible to speed up the learning curve.
"I'm also very happy for him to get his first experience in F1. Looking in the garage in FP3 with all the cameras, it reminded me of my FP3 a few years ago in Jeddah.
"It will be a great memory for him and a fantastic experience. But of course in a really challenging and sad circumstance."
When asked what advice he would give Hirakawa for the grand prix, Bearman said: "Send it, send it. Brake at the 50 [metre board] at Turn 1 and go for it."
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