The 82-year-old activist, who was granted interim bail for six months on medical grounds by the Bombay High Court on February 22, was discharged from the private hospital late Saturday night.
A court in Gadchiroli has asked his family to file deposit papers in the format that they have specified.
The high court while granting him bail imposed several conditions on his release, including a direction to him to remain in the city, within the jurisdiction of the NIA court in Mumbai.
Venugopal said their lawyers are on the job of getting necessary documentation for Rao's release on bail.
The bail granted on medical grounds is for six months and is on the condition that he must remain in Mumbai and available for investigation.
Senior Advocate Indira Jaising appearing on behalf of Hemlatha said that Rao has spent 149 days of the 365 days in a year, in a hospital ward.
Rao's counsel Jaising argued that the 82-year-old poet's continued incarceration was a breach of his fundamental right to life and health.
The National Investigation Agency (NIA) made the submission while opposing the bail plea of Rao, arrested in the Elgar-Parishad-Maoist links case.
The third one is a writ petition filed by Rao's wife Hemlatha alleging a breach of his fundamental rights owing to lack of medical care during his continued incarceration.
Petitioner MA Satyanarayana Rao said the NHRC was provoking suspicion that it was working in support of the Centre.
Earlier this week, the hospital authorities submitted a report in the high court stating that 81-year-old Rao was fit to be discharged.
Senior lawyer Jaising told a bench of Justices S S Shinde and Manish Pitale on Wednesday that Rao's right to dignity and health were being breached due to his detention.
Grover urged the HC to let Rao be with his family to recover fully and be fit to face trial in the case.
Earlier, the 82-year-old Rao had been in and out of the state-run J J Hospital here ever since his arrest in the case in June 2018.
Rao, 80, an accused in the Elgar Parishad-Maoist links case, was admitted to Nanavati Hospital in the city owing to his health issues in November following the court's orders.