Buffalo, NY (WKBW) -- A tragic accident that cost a mother her leg back in September, takes a positive turn today.

31-year-old Sarah Gregory, who had her leg severed during an accident in September, was discharged from Erie County Medical Center on Friday.

Gregory was on a lunch break from her job at Sorento Cheese, when she was crossing South Park Avenue in Buffalo.

She was struck by a car and pinned between that vehicle and a parked minivan.

Her left leg was immediately severed by the impact.

After 51 days in the hospital, Gregory said she has many challenges still ahead of her.

"When I go home, my whole life there has been with two legs," she said with her husband Brian at her side. "Caring for my daughter, which I won't be able to do by myself for a very long time."

Frank Cavarello, 30, of Lackawanna, was the driver of the car that struck Sarah. Cavarello has been charged with vehicular assault and driving under the influence of drugs.

Gregory said she hopes she can forgive him someday.

"I have compassion for him," she said. "I'm working on trying to forgive him. I'm sure that I will one day. I'm not ready to yet."