Pacino, 63, is embroiled in a court battle with ex-wife Beverly D'Angelo, 48, over visitation rights for their twins, Anton and Olivia.
The New York Post reported Thursday the couple appeared in Manhattan Family Court, where Judge Helen Sturm ruled, "There are no safety or health reasons to bar overnight visitations" and ordered the couple to work out the details.
If they can't or won't, Sturm said she would.
D'Angelo, best known for playing Chevy Chase's wife in the National Lampoon "Vacation" films, had opposed Pacino getting overnight visits with the tots.
Their love affair fell apart after D'Angelo had the children through in vitro fertilization.