Robert F. Kennedy Jr. and Mary Kennedy in Dec. 2010
05/17/2012 at 12:15 PM EDT
Mary Kennedy, the estranged wife of Robert F. Kennedy, committed suicide by hanging herself, the Westchester County Medical Examiner confirms to PEOPLE.
The body of Kennedy, 52, was discovered Wednesday
in the garage of her home in Mount Kisco, N.Y., by a housekeeper, sources told ABC News.
Bedford, N.Y., police were called to the home at 1:36 p.m. Wednesday to investigate a "possible unattended death." Police confirmed they found a "deceased individual" on the property, owned by Mary and Robert Kennedy.
Robert, the son of former U.S. Attorney General Robert F. Kennedy and nephew of President John F. Kennedy, filed for divorce from Mary in May 2010 after 16 years of marriage. They had four children together.
Her family said in a statement this week: "We deeply regret the death of our beloved sister Mary, whose radiant and creative spirit will be sorely missed by those who loved her. Our heart goes out to her children who she loved without reservation."
A funeral for Mary is scheduled on Saturday morning at St. Patrick's Church in Bedford, N.Y. The Rev. Msgr. George P. Thompson will officiate.
With reporting by LIZ MCNEIL