"Two deputies drove him in a patrol car there and back," Whitmore said. "He was under their supervision the whole time."
The visit occurred at the Malibu home of Redmond's father and Farrah's longtime boyfriend, Ryan O'Neal.
Redmond has been in a Los Angeles jail, following his April 5 arrest on suspicion of taking heroin into a LA-area jail facility.
Earlier this month, a judge transferred two felony drug cases against 24-year-old Redmond to a court that could send him to a stringent rehab program. However, he is still being held in jail.
Sentencing on the matter will be held April 30. At that point, Redmond could be sent to a strict rehab program.
As far as his visit to see Farrah, who is battling anal cancer, Redmond's family had to pay the sheriff's department $1285 for "personnel and mileage" costs.
Farrah, 62, was released from the hospital earlier this month after a brief hospitalization related to complications from a minor procedure. She has been battling cancer since being diagnosed in September 2006.
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PLAY IT NOW: Redmond O'Neal In Court (April 7, 2009)
PLAY IT NOW: Redmond O'Neal Spotted In Malibu (September 17, 2008)