Robert F. Kennedy Jr. and Mary Kennedy in Dec. 2010
05/16/2012 AT 05:15 PM EDT
Mary Kennedy, the estranged second wife of Robert F. Kennedy Jr., has died. She was 52.
"We deeply regret the death of our beloved sister Mary, whose radiant and creative spirit will be sorely missed by those who loved her," Mary Kennedy's family said in a statement released through her lawyer Kerry Lawrence. "Our heart goes out to her children who she loved without reservation.
According to reports, Mary was found dead at her Bedford, N.Y., home on Wednesday. Police issued a statement confirming they were investigating a "possible unattended death" at her home on Wednesday afternoon. Police reports also confirm that officers found "a deceased individual … inside an out building on that property." But the report withheld the individual's name.
In May 2010, Robert, the son of former U.S. Attorney General Robert F. Kennedy, filed for divorce from Mary after 16 years of marriage. Details of their divorce filing were kept private.
At the time of the filing, police were summoned to Kennedy's home for a "domestic incident," according to reports. Robert, a radio host and environmental activist, alleged his wife was intoxicated.
Three days later, Mary was arrested for driving while intoxicated after police spotted her running over a curb near her home. Police said she had a .11 blood alcohol level. She pleaded guilty to a lesser charge, was fined $500 and had her license suspended for 90 days.
In August 2010, she was charged with driving under the influence of drugs after speeding down the Taconic State Parkway, according to AP reports at the time. She was determined to be under the influence of prescription medication.
Mary is survived by Robert, 58, and their children Conor, Kyra, William and Aiden.
first reported news of Mary Kennedy's death.