"We deeply regret the death of our beloved sister Mary, whose radiant and creative spirit will be sorely missed by those who loved her," Mary Kennedy's family said in a statement released through her lawyer. "Our heart goes out to her children who she loved without reservation."
Bedford, N.Y., police responded to the Kennedy home in Mount Kisco, N.Y., at 1:36 p.m. yesterday to investigate a "possible unattended death," according a news release. While police would not identify the person who died, the house is listed under the names of Robert F. Kennedy Jr. and Mary Kennedy on property reports.
"Responding officers confirm that a deceased individual has been located inside an out building on that property," the statement said.
Mary Kennedy appeared to have hung herself, a family source told ABC News. A housekeeper found her in the garage, according to a family source.
The incident is under investigation by the Bedford Police Department with assistance from the Westchester County Medical Examiner's Office.
Mary Kennedy was Robert F. Kennedy Jr.'s second wife and the couple had four children together. The couple was married for 16 years before a divorce filing in 2010.
"Mary inspired our family with her kindness, her love, her gentle soul and generous spirit," Kennedy Jr.'s family said in a prepared statement. "Mary was a genius at friendship, a tremendously gifted architect and a pioneer and relentless advocate of green design who enhanced her cutting edge, energy efficient creations with exquisite taste and style. She applied her talent, energy and passion which were both brilliant and abundant, to advocacy for treatment and finding a cure for food allergies and asthma. She was an instrumental co-founder and driving force of the Food Allergy Initiative to which contributions may be made in her name."
Kennedy Jr. is the son of former Sen. Robert Kennedy and the nephew of President John F. Kennedy.
In 2010, Kennedy Jr. filed for divorce, according to the Journal News in White Plains, N.Y., a day after Bedford police responded to the Kennedy home for a "domestic incident" during which Mary Kennedy allegedly was intoxicated.
Three days later, Mary Kennedy was stopped outside of a school after she steered her Volvo station wagon over a curb, according to the Journal News. She was charged with driving while intoxicated after her blood alcohol level was reported to be 0.11 percent, above the legal limit of 0.08 percent.
She pleaded guilty to driving while impaired, the paper reported, and her license was suspended.
The next month, August 2010, she was arrested again for driving under the influence of drugs, according to the Associated Press.
ABC News' Stephanie Smith, Adam Stephan and Michael S. James contributed to this report.