Additional Sessions Judge Neelam Singh granted bail to Mohaniya after asking him to furnish a personal bond of Rs 50,000 and a surety of like amount.
Mohaniya, an MLA from Sangam Vihar in south Delhi, was arrested on Saturday while addressing a press conference at his residence in Sangam Vihar.
This followed a complaint from a woman who visited him along with others to complain about irregular water supply.
Earlier, his bail plea was dismissed by the court and he was remanded in judicial custody till July 11.
In his bail plea, Mohaniya said he was a legislator and would not flee from justice. He also said he had been falsely implicated in the case.
Delhi Police booked him for misbehaviour, manhandling and touching a woman inappropriately.