I would like to suggest that you call the home and say you’d like to be Menachem Ovol in person and when would be a good / appropriate time for you to drop by. In this way it leaves the decision open to your neighbor and his family.
If, and when you do go I would further suggest that you go, remain standing, say what you have to say plus the possuk and then leave. This is not a time to be too neighborly or personal as the man sitting shiva is in a vulnerable state therefore a little formality would go along way at this time