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Brown, 40, had owed the money to his former girlfriend Kim Ward, who lives in Massachusetts and with whom he has two teenage children: LaPrincia and Bobby III.
The singer was arrested over the weekend on his way into his daughter's cheerleading competition at Attleboro High School.
In a short hearing Thursday morning at Norfolk Probate and Family Court, Brown also paid more than $8,000 for back medical expenses and for his March child support bill.
The singer told reporters after the hearing that he'd been trying to catch up with payments and make sure his kids are taken care of. "I've been moving forward," he said.
Brown, who split from Whitney Houston in September and is currently going through a divorce, has been struggling to meet monthly payments, according to his lawyer, Phaedra Parks.
"Although this agreement was put in place when he was Bobby Brown the star, this agreement is being enforced when he is not always able to find work," Parks told the Associated Press. "He hasn't made an album in quite some years."
