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The Arizona mom who made headlines after she left her two children alone in her car to attended a job interview regained custody of her children following a hearing Thursday morning. AZCentral has the story:

“We had an excellent hearing,” said Benjamin Taylor, Shanesha Taylor’s attorney. “The judge will return the children to Ms. Taylor.”

Child Protective Services asked Judge Bradley Astrowski that the hearing be closed to the public because juveniles were involved.

Taylor said Astrowski’s ruling was an enormous relief.

“I finally breathed,” Taylor said after the 20-minute hearing. “I don’t think I breathed for three days before that.”

Also See: NewsOne Minute: AZ Mom, Shanesha Taylor, Finally Speaks Out

Taylor was barred from seeing her children after her her March 20 arrest in Scottsdale and was later granted supervised contact with her children.

Benjamin Taylor said the chances improved for Shanesha Taylor to regain custody of her children after the criminal case was resolved.

“She’s been doing everything right,” Benjamin Taylor said. “She’s been doing everything the judge told her to do and she’s a veteran of the United States Air Force.”

Prosecutors last month agreed to dismiss the abuse charges against Taylor if she successfully completes a diversion program. Read more.

Taylor was allowed to pick up her children Thursday and told reporters that she plans on seeing them as soon as possible.

“I’m sure there will be ice cream involved,” she said.

[VIDEO] Arizona Mom Regains Custody Of Her Children  was originally published on