Prosecutors had asked U.S. District Judge Paul Friedman to bar visits unless Hinckley's brother and sister were present. Friedman agreed that Hinckley's 81-year-old father is no longer able to supervise him, but he also found that Hinckley no longer poses a danger to others.
Hinckley, 51, shot Reagan, his press secretary James Brady and two others in March 1981, allegedly because he wanted to impress actress Jodie Foster. A jury found him not guilty by reason of insanity.
Friedman ruled last December that Hinckley could be allowed to visit his parents, who live near Williamsburg, Va. He told federal prosecutors and Hinckley's lawyer to prepare for additional hearings in March on the conditions of his visits.