Kennedy, 52, pleaded not guilty Tuesday night to a charge of driving while drug-impaired. She was released but must submit to fingerprinting by state police and to evaluation by a substance abuse agency.
The former wife of New York Gov. Andrew Cuomo was arrested Friday after state police said her Lexus struck a tractor-trailer on Interstate 684. Police said she then took an exit off the highway before her car became disabled.
According to a police report, Kennedy failed several sobriety tests and was swaying and slurring her speech. Kennedy said she remembers getting on the highway to go to the gym "and then I have no memory until I was stopped at a traffic light and a police officer was at my car door."
She said she felt "confused and erratic" and told the officer she might have accidentally taken an Ambien sleeping pill instead of her daily thyroid pill. But drug tests later that day showed "no alcohol, recreational drugs or prescription medication in my system," she said.
Tests on blood and urine that the court will rely on have not yet been completed, Town Justice Elyse Lazansky said.
Kennedy is due back in court Aug. 14.
The Associated Press contributed to this report.