The 85-year-old was seen arriving with his assistant at an office building in Midtown.
Looking withdrawn, Cosby required help as he stepped out of his vehicle.
The disgraced actor and comedian was spotted wearing a baseball cap and face mask, and used a walking stick to help him on a rare public outing in the city.
He was also sporting a sweater from South Carolina, despite University of South Carolina revoking his honorary degree after his rape conviction.
In 2018, Cosby was convicted of drugging and sexually assaulting Andrea Constand at his Pennsylvania estate in 2004.
He spent just under three years in prison following a highly publicised trial.
Last year, the Pennsylvania State Supreme Court then overturned his conviction, and he was released.
Looking to the future, the star spoke previously about the ‘fun’ he plans to have by hitting the road in 2023.
Speaking during a radio interview on WGH Talk with host Scott Spears, Cosby answered with a resounding ‘yes’ when quizzed on whether next year would be the year he tours again.
‘When I come out of this, I feel that I will be able to perform and be the Bill Cosby that my audience knows me to be,’ he said.
‘There’s so much fun to be had in this storytelling that I do,’ Cosby continued.
‘Years ago, maybe 10 years ago, I found it was better to say it after I write it.’
Andrew Wyatt, a representative for Cosby, later confirmed to Variety that the comedian is ‘looking at spring/summer to start touring’.
However, comedy fans might not be in a rush to buy tickets, given Cosby’s past and how social media users expressed their confusion following his announcement, wishing him a sarcastic ‘good luck’ with filling venues.
Cosby has always maintained his innocence after being accused of sexual assault by dozens of women.
Following his release from jail, he thanked his supporters who ‘stood by me’ throughout the ‘ordeal’, which saw allegations span from 1965 to 2008.
However, at the time of his release, allegations from Constand were the only ones that resulted in criminal charges after she came forward.
During his incarceration, Cosby resisted sex offender programs, refusing to take part or acknowledge wrongdoing, even if it meant he would have to serve his full sentence.
Got a story?
If you’ve got a celebrity story, video or pictures get in touch with the Metro.co.uk entertainment team by emailing us celebtips@metro.co.uk, calling 020 3615 2145 or by visiting our Submit Stuff page – we’d love to hear from you.
MORE : Lindsay Lohan surrounded by loved ones for baby shower as actress expects first child with Bader Shammas
MORE : Kim Kardashian whisks ‘the girls’ away on private jet to Katy Perry gig where North shows off dance moves onstage
var notifyQ = function () { var i = 0, l = awaitingReady.length; for (i = 0; i
For all the latest Entertainment News Click Here
For the latest news and updates, follow us on Google News.