Shanesha Taylor and her attorney, Benjamin Taylor and the Rev. Jerrett Maupin
09/03/2014 AT 03:45 PM EDT
The Arizona mother who was arrested
for leaving her kids in the car during a job interview has regained custody of her two children.
A judge granted Shanesha Taylor, 35, custody of her 2-year-old and 8-month-old sons Thursday, her attorney confirmed to PEOPLE.
"I am human, and we are all allowed to make mistakes from time to time, but it is how you recover from those mistakes is what makes us better people," she said in court, according to the Phoenix radio station KSAZ
Taylor is required to take 26 weeks of parenting classes, which she is in the process of doing, according to her attorney. Prosecutors suspended the trial and once she completes her classes, the case will officially be dismissed.
"A weight has been lifted off her shoulders," her attorney Benjamin Taylor (no relation) told PEOPLE. "She's happy to be reunited with her children."
Taylor was arrested in March after police found her kids crying and sweating inside her parked SUV. A New Jersey woman, Amanda Bishop, identified with her struggle and set up a funding drive on YouCaring.com
, raising $114,825 for the single mom.
Reporting by ELAINE ARADILLAS