Paul Sigmund IV's attorney told The Times of Trenton his client did not want to be a distraction to the mayor's work.
Gabriel Lependorf says the mayor and Sigmund spoke on the telephone Thursday.
Authorities say Sigmund scuffled with officers after he was asked to stop while walking near City Hall on Monday morning. Police said officers found 10 decks of heroin in Sigmund's pocket.
Sigmund is free on $25,000 bail.
The 46-year-old's late mother, Barbara Boggs Sigmund, was a former mayor of Princeton and his aunt is ABC commentator Cokie Roberts.
Information from: The Times