He was officially released from home confinement Monday.
Cohen brought his release papers to court in Lower Manhattan to have them processed.
This comes three years after Cohen pleaded guilty to tax evasion and campaign finance law violations.
He was on house arrest for 18 months after more than 13 months in federal prison.
"I will continue to provide information, testimony, documents and my full cooperation in all ongoing investigations to ensure that others are held responsible for their dirty deeds and that no one is ever believed to be above the law," Cohen said Monday.
New York prosecutors are said to be looking into Trump's business dealings.
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