A man considered to be one of New Zealand's worst rapists who kept his daughter as a sex slave for 23 years has been released from prison, despite fears he may reoffend.

Ronald Van der Plaat, 82, was sent to prison for 15 years in 2001 for hanging his daughter, Tanjas Darke, up to the ceiling by her ankles and placing her head in a box with a padlock on it as he raped her, New Zealand Herald reported.

He was briefly released in 2010, but was sent back to jail two years later after being seen 'walking beside a girl of Asian descent holding her hand' at a museum in Auckland.

He is scheduled to be released from prison on Wednesday and will return to his Te Atatu address, the same home where he abused his daughter, Stuff.co.nz reported.

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Ronald Van der Plaat (pictured) - considered to be one of New Zealand's worst rapists - has been released from prison, despite fears he may reoffend

Ronald Van der Plaat (right), 82, was sent to prison for 15 years in 2001 for hanging his daughter, Tanjas Darke (left) up to the ceiling by her ankles and placing her head in a box with a padlock on it as he raped her

The conditions of his release means he must wear a GPS bracelet and has a ban on going to places where children younger than 16 may frequent.

This includes, parks, kindergartens, schools, childcare centres and libraries.

Te Atatu MP Phil Twyford said he had been contacted by concerned residents after news broke Van der Plaat would return to the community.

'There are real and just concerns in the community about the risk this man poses to the safety of vulnerable people given his appalling behaviour and the circumstances when he was last released,' he said.

His Te Atatu address is just 400 metres walking distance from a primary school. A neighbour told Newshub she holds grave concerns for the children in the neighbourhood.

'The concerns I have is what might this do to our property values, how people might have to change their behaviour -- for example children not being about to go and play outside,' she said.

Operations Director Northern Region Lynette Cave said Van der Plaat will be subject to 'nine standard and 12 special release conditions for a period of six months'.

These include completing rehabilitation programs and continuing counselling. The 82-year-old is also banned from possessing any device capable of taking photos or filming.

'It is the view of the psychologist that Mr Van der Plaat's progressive ageing, possible cognitive decline, consistent denial of sexual deviancy and lack of insight regarding his risk, combined with collusive social supports, hinders relapse prevention planning,' the board said in parole documents.

The conditions of his release means Van der Plaat must wear a GPS bracelet and has a ban on going to places where children younger than 16 may frequent

'It is also clear from the information in front of the board that age is not necessarily seen as protective in Mr Van der Plaat's case, at least at this time.

'Mr Van der Plaat continues to deny the index offending.

'The psychologist can only conclude that Mr Van der Plaat's increasing physical frailty within external controls is likely to mitigate his risk of sexual recidivism 'over time'.'

The convicted rapist's psychological report said he could target 'vulnerable solo mothers' and 'most likely non-European immigrants'.

'He will groom their trust through offering financial, material, practical and emotional support,' he said.

'Future victims are likely to be their female children with Mr Van der Plaat assuming some form of caregiver role.'

At the time of his sentencing, the judge described Van der Plaat's offending as at the 'very upper level of seriousness in terms of cases of sustained abuse to come before the court'.

She was hung up by her ankles on the ceiling before he raped her. Van der Plaat also put her head inside a box with a padlock before he sexually assaulted her

'It was not ordinary sexual abuse but was bizarre in the extreme and can only be described as depraved,' the judge told the court.

The abuse of Ms Darke, who waved her right to privacy, started when she was only nine years old and continued on until she in her 30s.

She also wrote a book about her ordeal called Flight of the Dancing Bird.

Ms Darke's father would keep her in bondage with handcuffs, chains and clamps, and he would put her head in a box with a padlock on it as he carried out the rapes and shove wax into her ears, New Zealand Herald reported.

When Ms Darke was 12, she fell pregnant and caught a sexually transmitted infection after years of sustained sexual abuse.

Van der Plaat's movements will be tracked by a GPS monitor and he cannot leave his home between the hours of 10pm and 6am every day.

He is not allowed to have any contact with any person under the age of 16 unless he is supervised by an adult who is over 20 years old, and knows of his criminal history and has been approved by his probation officer.