EXCLUSIVE - Hug for the woman fighting to keep Cosby from jail: Disgraced comedian embraces lawyer before boarding his private jet to his estate in Massachusetts after being charged with drugging and sexually assaulting a woman at his home in 2004 Read more: http://www.dailymail.co.uk/news/article-3378951/Arrest-warrant-issued-Bill-Cosby-2004-sexual-assault-Andrea-Constand.html#ixzz3vsPnc8Rq Follow us: @MailOnline on Twitter | DailyMail on Facebook

Cosby is headed to his estate in rural western Massachusetts, where he was in hiding for weeks before he was charged

Aides handed him his jacket and cane before the cabin door was slammed shut and the two pilots started the engine. 

The flight took off moments later, likely headed towards Massachusetts where Cosby has a massive estate in the remote town of Shelburne Falls. 

Cosby had earlier arrived at his home to his Elkins Park, Pennsylvania mansion smiling an hour after being arraigned on charges of sexual assault and released on $1million bail.

Cosby warmly greeted a middle-aged woman who held the back door open as he shuffled inside, using his cane to support him.

The same woman was seen earlier Wednesday busily preparing a meal in the 7,800 square foot property’s large kitchen.

Police officers were stationed at both entrances to the house, reminding reporters it was private property and warning them not to go closer.

Several cars came and went throughout the day but their occupants refused to comment. 

Cosby is accused of drugging and sexually assaulting Andrea Constand at that same mansion in Elkins Park in January 2004.

The 78-year-old comedian previously said under oath that he had consensual sexual contact with Constand, the former director of operations for Temple's women's basketball team. 

The actor was also forced to hand over his passport but did not enter a plea on Wednesday afternoon, appearing in court for just five minutes. A preliminary hearing has been set for January 14.

He was also advised by Judge Elizabeth McHugh to avoid any contact with Constand. 

From there he headed over to the Cheltenham Township Police Department where he was fingerprinted and had his mugshot taken by authorities. 

A crowd gathered outside the station screamed at the actor 'you're a monster' as he went inside.