Attorneys said the Rev. Peter Petroske also pleaded no contest to a charge of disorderly conduct, related to his lack of clothes. Both are misdemeanors.
Petroske appeared in court in Dearborn on Dec. 27, about five months after police stopped his car near Sacred Heart Church in Dearborn, where he was the pastor.
His attorney, Ed Zelenek, said Wednesday that the priest is being treated in Pennsylvania for an alcohol problem.
Petroske was suspended by the Detroit Roman Catholic Archdiocese after the summer incident. Zelenek said Petroske wants to return to service when his therapy is completed.