Protected by a three-man squad of minders, Rolf Harris penetrated a small army  of cameramen to reach his front door after being released on bail from prison.

A man wearing a hooded jacket and scarf over his face was waiting in the driveway of the Harris home in a leafy riverside neighbourhood of Berkshire when the blue sedan carrying the 87-year-old disgraced star arrived just after 9am on Friday.

Two other men shielded Harris from cameramen as he climbed out of the passenger seat and negotiated a short flight of stairs to the front door, where one of the family’s dogs gave him a rapturous reception.

At one point tensions almost came to blows when a tussle erupted between the bodyguards and press gang, with one cameraman shouting “How dare you!” after being pushed.

Harris is trial on four charges of groping teenage girls in 1971, 1978 and 1983.

On Monday, he is due to walk into court in person for the last week of his trial.

Judge Deborah Taylor told the jury of seven women and five men on Thursday that Harris would be released from Stafford on Friday after she approved an application for bail on the current charges.

The application was not opposed by the prosecution.

Justice Taylor told the jury that granting bail to Harris should have no impact on their deliberations on the current charges.

She said the court would not be sitting on Friday as Harris went through his release from Stafford.

“He will be attending what remains of this trial in person from Monday next week,” the judge said.

Two of the indecent assault charges relate to allegations Harris groped the breast of a 16-year-old girl and ran his hand between her thighs in the back of a taxi at a celebrity sports event in Cambridge in 1978.

Another charge accuses him of putting his hand up the skirt of a 14-year-old girl and touching her on the vagina through her tights as she sought his autograph at a music festival in London in 1971.

A further charge alleges he groped the breast of a 13-year-old girl at the BBC Television Centre in 1983 and said to her, “Do you often get molested on a Saturday morning?”
– with AAP