According to sources, a court-appointed monitor was seated in the front seat, with her sons in the back seat, reports People Magazine.
On Oct 17, L.A. Superior Court Commissioner Scott Gordon had momentarily suspended Spears' visitation rights after the pop star was inaccessible by a cell phone allocated for court-related scheduling.
However, on Oct 18, Kevin Federline's attorney Mark Vincent Kaplan said that he expected the singer would soon be seeing her sons once again after being "in compliance" with the judge's order.
Lawyers for both sides, however, refused to comment on the matter.
Both Spears and Federline are due in court on Oct 26 to hear the findings of parenting coach's report and hear any updates from Los Angeles Superior Court Commissioner Scott Gordon.