Rosie O'Donnell's daughter Chelsea asks judge to be reunited with the man she was found with

Rosie O'Donnell's Daughter Chelsea Asks to Be Reunited With Older Man She Was Found With

Rosie O'Donnell's family drama is getting more complicated.

The 53-year-old former View co-host's 18-year-old daughter, Chelsea O'Donnell, showed up in a New Jersey court on Friday, to show her support for Steven Sheerer, the 25-year-old man she was found with after she was went missing in August. Last Monday, Sheerer was charged with third-degree distribution of obscenity to a minor and third-degree endangering the welfare of a child, as Chelsea was only 17 at the time. The obscenity charge stems from a nude photo Sheerer reportedly sent to Chelsea in their online communication before she ran away from home.

"She came to court today in person and the judge spoke to her," Sheerer's attorney, Robert Tarver, told ET about Chelsea's court appearance on Friday. "We presented the judge with a certification from Chelsea O'Donnell, herself, indicating that she said to this guy, number 1, they communicated through Tinder, and she represented that she was 19 years old on Tinder."

More photos of Chelsea O'Donnell:

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Chelsea O'Donnell, daughter of Rosie O'Donnell
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Rosie O'Donnell's daughter Chelsea asks judge to be reunited with the man she was found with
NEW YORK, NY - JUNE 20: (EXCLUSIVE COVERAGE) Rosie O'Donnell and Chelsea Belle O'Donnell pose at the '2nd Annual Fran Drescher Cancer Schmancer Sunset Cabaret Cruise' on The SS Hornblower Infinity Crusie Ship on June 20, 2016 in New York City. (Photo by Bruce Glikas/Bruce Glikas/FilmMagic)
NEW YORK, NY - JUNE 20: Chelsea Belle O'Donnell and Vivienne Rose O'Donnell attend Fran Drescher's 2016 Cabaret Cruise at Pier 40 on June 20, 2016 in New York City. (Photo by Dave Kotinsky/Getty Images)
NEW YORK, NY - MAY 17: Vivienne Rose O'Donnell, Rosie O'Donnell and Chelsea Belle O'Donnell attend the 5th Annual Rosie's Theater Kids Spring Benefit at The Alvin Ailey Citigroup Theater on May 17, 2015 in New York City. (Photo by Ben Hider/Getty Images)
NEW YORK, NY - MAY 17: (L-R) Vivienne Rose O'Donnell, Rosie O'Donnell, Chelsea Belle O'Donnell and Blake Christopher O'Donnell attend the 5th Annual Rosie's Theater Kids Spring Benefit at The Alvin Ailey Citigroup Theater on May 17, 2015 in New York City. (Photo by Paul Zimmerman/WireImage)
NEW YORK - AUGUST 03: ***EXCLUSIVE COVERAGE*** (L-R) Blake O'Donnell, Parker O'Donnell, Chelsea O'Donnell, Nathan Lane as 'Gomez Addams', Vivian O'Donnell, Rosie O'Donnell and Bebe Neuwirth as 'Morticia Addams' pose backstage at 'The Addams Family' on Broadway at the Lunt-Fontanne Theatre on August 3, 2010 in New York City. (Photo by Bruce Glikas/FilmMagic)
Vivienne Carpenter-O'Donnell, Kelli Carpenter, Chelsea Carpenter-O'Donnell, Rosie O'Donnell, Blake Carpenter-O'Donnell and Parker Carpenter-O'Donnell attend the HBO screening of A Family is A Family: A Rosie O'Donnell Celebration at the HBO Theater on January 19, 2010 in New York City. (Photo by Bruce Glikas/FilmMagic)
Rosie O'Donnell, Chelsea O'Donnell and Billie Jean King (Photo by M. Von Holden/Getty Images)
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WATCH: Rosie O'Donnell's Daughter Chelsea Was Found With Convicted Criminal

"She verified she was 18 now, but 17 at the time of contact," Tarver added. "She verified how she met him -- through Tinder -- verified he didn't know what age she was, and she never told him the truth on that."

Chelsea also asked the judge to remove The Nicole Law, a court provision barring her from seeing Sheerer, which the judge agreed to.

"She appealed to the judge to remove the no contact order due to the fact that she is an adult now," Ocean County Prosecutor's Office press officer, Al Della Fave, told ET on Friday. "Her birthday has passed and she felt the subject would pose no harm to her."

"She wants to be able to have a continued relationship with Mr. Sheerer," Tarver said.

A source from inside the courtroom told ET that as soon as court was done, Chelsea immediately went over to Sheerer's mother, who was present, and gave her a big hug.

Sheerer's bail was significantly reduced from $40,000 to $10,000 at Friday's court appearance, and Tarver said he expects his client will be out of jail later today. "What happens next is the case goes to grand jury, and if they decide it is appropriate to bring charges, then he and his attorney will need to decide how they want to plead the case," Della Fave said.

Chelsea is currently living with her birth mother, Deanna Micoley, who gave her up for adoption in 1997. "Chelsea made a decision when she turned 18 that she wanted to go to her birth mother," Rosie's spokesperson, Cindi Berger, said in a statement to ET. "This was her choice."

Photos of Rosie O'Donnell through the years:

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Rosie O'Donnell through the years
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Rosie O'Donnell's daughter Chelsea asks judge to be reunited with the man she was found with
NEW YORK, NY - MAY 17: Rosie O'Donnell attends the 5th Annual Rosie's Theater Kids Spring Benefit at The Alvin Ailey Citigroup Theater on May 17, 2015 in New York City. (Photo by Paul Zimmerman/WireImage)
BENTONVILLE, AR - MAY 07: Rosie O'Donnell attends the 'League of their own' event at Arvest Park hosted by Geena Davis and Rosie O'Donnell at the Bentonville Film Festival on May 7, 2015 in Bentonville, Arkansas. (Photo by Ernesto Di Stefano Photography/WireImage)
NEW YORK, NY - MAY 03: Kate Mulgrew and Rosie O'Donnell attend 'An Evening with Kate Mulgrew', a reading and Q & A about her memoir 'Born with Teeth' at the Vineyard Theatre on May 3, 2015 in New York City. (Photo by Walter McBride/Getty Images)
NEW YORK, NY - FEBRUARY 09: (L-R) Liz McCartney, Rosie O'Donnell and Sarah Uriarte Berry attend the 'Taboo:Ten Years Later' reunion concert at 54 Below on February 9, 2014 in New York City. (Photo by Bruce Glikas/FilmMagic)
NEW YORK, NY - FEBRUARY 06: (L-R) Lena Hall, Rosie O'Donnell and Annaleigh Ashford pose backstage at the hit musical 'Kinky Boots' on Broadway at The Hirshfeld Theater on February 6, 2014 in New York City. (Photo by Bruce Glikas/FilmMagic)
NEW YORK, NY - JANUARY 31: Cyndi Lauper and Rosie O'Donnell attend 'Howard Stern's Birthday Bash' presented by SiriusXM, produced by Howard Stern Productions at Hammerstein Ballroom on January 31, 2014 in New York City. (Photo by Kevin Mazur/Getty Images for SiriusXM)
THE VIEW - Rosie O'Donnell returns to THE VIEW to a standing ovation, FRIDAY, FEB. 7 (11:00 a.m. - 12:00 noon, ET) airing on the ABC Television Network. Never shy on opinions, the Emmy Award-winner joins the co-hosts for Hot Topics, shares how her life dramatically changed since leaving THE VIEW and makes a declaration that even she thought she would never say. The appearance marks the first time Rosie O'Donnell has returned to the talk show since moderating Season 10 (2006-2007). (Photo by Lou Rocco/ABC via Getty Images) BARBARA WALTERS, ROSIE O'DONNELL
NEW YORK, NY - FEBRUARY 06: (L-R) Rosie O'Donnell, Billy Porter as 'Lola', Eric Stonestreet and Andy Kelso as 'Charlie' pose backstage at the hit musical 'Kinky Boots' on Broadway at The Hirshfeld Theater on February 6, 2014 in New York City. (Photo by Bruce Glikas/FilmMagic)
NEW YORK, NY - JANUARY 31: Rosie O'Donnell at SiriusXM's 'Howard Stern Birthday Bash' at Hammerstein Ballroom on January 31, 2014 in New York City. (Photo by Bobby Bank/WireImage)
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Sheerer -- who lives at home in Barnegat, New Jersey, with his mother -- met Chelsea online, a source close to the situation previously told ET. He's also been in trouble with the law before. He previously served 53 days in jail and two years probation in 2013 after being charged with third-degree possession of heroin with the intent to distribute, third-degree possession of heroin, third-degree endangering the welfare of a child and possession of drug paraphernalia. ET can confirm he also pleaded guilty to possession of heroin in 2012, serving two years' concurrent probation.

NEWS: Rosie O'Donnell Admits 'No Mom Is Perfect' After Daughter Is Found Safe

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