The New York Daily News reports that Kennedy has been registered to vote in New York City since 1988. The News said she missed about half her opportunities to exercise the franchise.
Most of the contested elections Kennedy skipped were Democratic primaries. But in 1994, she did not vote in either the primary or general election for the Senate when Daniel Patrick Moynihan was in the seat she has her eye on.
She also missed mayoral primaries in 1989, 1993, 1997 and 2005. Republicans won the general election in 1993 and beyond.
Kennedy, daughter of President John F. Kennedy, has a reputation as a private person likely to have little taste for rough-and-tumble politics. In the last few days, she has been traveling in New York as part of a campaign for the seat Clinton will vacate to become U.S. secretary of state.
Kennedy had lunch Thursday with activist Al Sharpton at Sylvia's in Harlem and met Brooklyn Democratic leader Vito Lopez at an Italian restaurant in Williamsburg.
"I come at this as a mother, as a lawyer, as an author, as an education advocate and from a family that really has spent generations in public service," Kennedy said in Harlem.
Notable deaths of 2014 [PHOTOS]