"We are happy to say that after suffering a stroke in January, Mark has progressed to the point where he can move home with his family," the family said Thursday in a statement.
Kirk will continue therapy as an out-patient, the statement said.
"He has begun a rigorous walking study program to further his mobility and independence while maintaining his schedule with staff."
Kirk, 52, of Highland Park, Ill., suffered an ischemic stroke Jan. 21.
Man behind Doritos Locos Tacos passed away on Thanksgiving
Theater accidentally screens 'Nymphomaniac' trailer instead of Disney's 'Frozen'