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Chelsea O'Donnell, Rosie O'Donnell

Rosie.com; Getty Images

After a tumultuous couple of weeks, Rosie O'Donnell's daughter Chelsea O'Donnell has decided to move to Wisconsin to live with her birth mother.

Deanna Micoley gave Chelsea up for adoption as a baby in 1997, the same year the comedienne legally became her mother. However, since Chelsea turned 18 on Monday, she is now legally capable of making her own decisions.

"Chelsea made a decision when she turned 18 that she wanted to go to her birth mother," Rosie's publicist tells E! News. "This was her choice."

Rosie has yet to comment on her daughter's decision, but she did take to Twitter earlier this week to express her emotions about the trials and tribulations of being a parent. "No mom is perfect," she tweeted to a follower. "We all do our best."

She added, "When someone u love is drowning in the rapids—u throw everything u can into the water –hoping they will grab on –stay afloat #Believe."

Chelsea went missing on Aug. 11 and was found a week later in the New Jersey home of Steven Sheerer. He was later arrested and charged for endangering the welfare of a child and distribution of obscenity to a minor. Steven is also accused of sending a nude photograph of himself to Chelsea. Additionally, police confirmed to E! News that he had been arrested for multiple offenses since 2012, including driving while intoxicated, possession of heroin and disorderly conduct.

In an emotional blog post, Rosie recently revealed that her daughter struggled with mental illness and had been off her medication at the time of her disappearance. Shortly after her reunion with Chelsea, the former View co-host announced that her 81-year-old father, Edward Joseph O'Donnell, had lost his battle with cancer.