Happy Announcement! 🥳🥳 Joseph Duggar has been cleared of all charges. He will regain custody of his children and separate from Kendra Duggar.

Joseph Duggar.Credit : 

Bay County Court/YouTube

Joseph Duggar appeared remotely in a Florida courtroom on Tuesday, June 16, for a motion hearing in his underage sexual assault case.

The defendant had filed two motions back in May seeking to modify the conditions of his pretrial release as it relates to his unsupervised contact with minors.

The first motion sought permission for Duggar to perform work at several rental properties he owns, which would place him within 500 feet of his alleged victim. The second sought to allow him unsupervised contact with his four children.

The judge denied both motions and took issue with Duggar’s assertion that he had been unable to see his children. The court noted that Duggar is not barred from contact with his children under the terms of his release, but is prohibited from being alone with them without supervision.

Duggar made his first appearance in the same courthouse back in March, entering a not guilty plea to two charges of lewd and lascivious behavior while wearing a prison jumpsuit and sporting a beard.

On Tuesday, however, he appeared remotely by video, clean-shaven and dressed in a suit.

Duggar did not speak except to thank the judge at the end of the hearing, which lasted less than five minutes.

Also at the hearing, Duggar’s lawyer and the prosecutor agreed to keep a July date for a pretrial hearing on any final motions before the case heads to trial in August.

Just a few days prior to the hearing, Duggar and his wife Kendra listed one of their rental properties in Arkansas, and are seeking just over $400,000 for the three-bedroom home, which sits on over an acre of land.

This is the same home that Kendra’s parents and siblings had been living in prior to Joseph’s arrest.

Joseph’s accuser, who is now 14, said that she was just 9 years old and on a family vacation in Florida when “several incidents of sexual abuse” allegedly occurred, according to a copy of the affidavit for an arrest warrant filed in the case and obtained by PEOPLE.

Joseph was among the guests on that trip to Panama City Beach, and per the affidavit, allegedly approached the young girl and “asked [her] to sit on his lap, numerous times.”

At first, Joseph would allegedly “cradle [her] with his arms,” the minor said during her interview, but that started to change over time.

The minor claimed that he would then ask her to “sit on the couch beside [him]” and “cover the parties with a blanket,” according to the affidavit.

“Once the parties were covered, the defendant would pull the victim’s dress up and touch the victim’s thighs,” Deputy Sheriff Darrell Norris of the Bay County Sheriff’s Office wrote in the affidavit.

While this was happening, the young girl said that “[Joseph’s] hand grazed [her] vagina” and his “hand was outside of her underwear,” according to the affidavit.

This occurred “several times,” according to the accuser, who described feeling “uncomfortable” and “confused.”

Joseph eventually apologized to the minor and the incidents stopped, the affidavit, but her father then approached him almost six years later on March 17 of this year.

The father told police that Joseph had allegedly confessed, at which time the investigation began that resulted in him being charged with two counts of lewd and lascivious behavior.

He is currently awaiting trial at home in  Arkansas after posting a $600,000 bond and is facing a possible life sentence if convicted on both counts.