Christopher Daniel Shaw (aka Hubbard) was originally granted early release in February after serving seven years of a near decade-long sentence imposed in 2009.
However, the 34-year-old was recalled to prison less than six months later after making phone calls to inmates behind bars, a Parole Board decision said.
''He accepted that his calls to serving prisoners while he was on parole were a major error of judgement,'' board convener Neville Trendle said.
''He tended, however, to minimise the purpose and nature of those telephone conversations.''
Shaw and then partner Stacey Estelle Snelleksz embarked on a 600km crime spree which culminated in the face off with police near Palmerston in 2009.
The pair had fled the North Island after learning Snelleksz's two children might be removed by Child, Youth and Family; and stole goods worth up to $45,000.
Police believed Shaw used one of the children as a human shield at one point while brandishing a rifle, a court heard.
The prisoner's lawyer Judith Fyfe told the Parole Board the matters for which her client had previously been denied early release had been addressed.
She said Shaw had been working with the psychologist, had a strong release plan, had participated in two reintegration hui with his Feilding-based family and was doing well in ''self care''.
''The biggest change since he was released on the last occasion was the change in his attitude,'' Ms Fyfe told the board.
''He had far greater insight into the issues that led to his offending. He had a clear direction for the way ahead and was planning to engage in a building apprenticeship,'' the decision said.
While a psychological assessment marked the progress Shaw had made in dealing with challenging situations, as well as a ''shift in attitude'', Mr Trendle said the board had to consider whether it would be better to continue treatment in prison or in the community.
The written decision from the hearing held last month noted Shaw had a high score on a psychopathy checklist.
Mr Trendle said the prisoner's therapy would continue until April.
''While he has strong support in the community and could articulate how he had changed, that change is recent and, in view of his record, the board has not reached the point that we are satisfied his release would not pose an undue risk to the safety of the community,'' he said.
Shaw will next appear before the Parole Board at the end of June.
His sentence lapses in January next year.
