President Ronald Reagan waves to onlookers moments before an assassination attempt by John Hinckley Jr March 30, 1981. (Photo By The White House/Getty Images)

After being held at a psychiatric hospital for over three decades, John W. Hinckley, Jr. will be released, a federal judge ruled today. In 1981, Hinckley attempted to assassinate president Ronald Reagan and shot three others outside of the Washington Hilton hotel. He has been confined to St. Elizabeths Hospital in D.C. since the incident, but has been granted increasingly long releases in his mother’s custody.

The 61-year-old would-be assassin “no longer poses a danger to himself or others” and will live full-time with his mother in Williamsburg, Va., The Washington Post reports. U.S. District Judge Paul Friedman’s ruling is effective no sooner than August 5.

The then 25-year-old Hinckley said he shot Reagan to impress actress Jodie Foster. After an eight-week trial, a federal jury found him not guilty by reason of insanity, clearing him of 13 counts.

James Brady, one of the victims in the shooting, died in August 2014 as a result of his injuries. But last year, federal prosecutors decided against pursuing homicide charges against Hinckley, whose shot left Brady partially paralyzed.

After years of being restricted to the hospital, the court began granting him certain freedoms in 1999, including leaving for outings with hospital staff and visiting his mother in Virginia under guidelines such as no internet access without supervision, according to a fascinating Washingtonian report about how Hinckley currently spends his days. At the hospital, he’s passed time caring for more than two dozen feral cats and participating in music therapy, among other things.

In response to Hinckley’s release, Michael Reagan tweeted, “My father did more than say the Lords Prayer. He lived it in forgiving John Hinkley Jr. Maybe we should do the same.”

Hinckley is being released with more than 30 conditions that he must follow, according to a court document.