After spending seven years behind bars, Mary Kay Letourneau (search) will legally be allowed to see the former student she was convicted of having sex with.

A judge on Friday approved the motion lifting the no-contact order between Letourneau and Vili Fualaau (search), with whom she had two children.

“I've been waiting for a long time for this to happen — for her to come out," Fualaau said on NBC's the "Today" show Friday. "And now that I — now that she is out now, you know, I'm really excited to see her.”

A spokesman for the King County prosecutor's office said it did not object to the motion and neither did the state Department of Corrections. The order was signed Friday morning by King County Superior Court Judge Linda Lau.

Lau was the same judge who sentenced Letourneau to seven years in prison for having sex with her sixth-grade student.

Letourneau was released Wednesday after completing a seven-year term. She's staying with friends at a home in Boulevard Park south of Seattle.

Fualaau said he's looking forward to getting together with Letourneau and their children to see if they can have a life together.

He said on "Today" that he wants to see if his former teacher is "still the same person that I fell in love with. And I want to see if she feels the same way for me.”

The reunion will initially just be the two of them at first, he said during the interview. "And then, later we'll bring the kids in the picture.”

The Associated Press contributed to this report.