Kerrigan, 45, was released from Bridgewater State Hospital on Tuesday and was returned to the county jail for the night. He is facing assault charges for a violent altercation that resulted in the death of his father, Daniel Kerrigan, 70, on Jan. 24.
Woburn District Court officials confirmed to PEOPLE that the bail was posted Wednesday morning. As part of the conditions of his bail, Kerrigan must wear a GPS bracelet, submit to alcohol and drug screening and get mental health counseling.
"The Kerrigan family is delighted to have Mark back with them," Kerrigan Family spokesperson Nancy Sterling said in a statement Wednesday morning. "They ask that you respect their privacy as they welcome Mark home."
The Kerrigan family has maintained that Daniel Kerrigan's pre-existing heart problems were to blame for his death.