Bergdahl will take a job at Fort Sam Houston in Texas.
In an effort to help him readjust, he will live in barracks and be helped along by two other soldiers, according to The New York Times.
The exchange was criticized by some who said negotiating with terrorists and the militants' release could jeopardize national security.
Bergdahl will continue to meet with army officials investigating the events surrounding his disappearance and capture in 2009. Last month, the Army announced Maj. Gen. Kenneth Dahl would lead an investigation.
A report completed shortly after his capture in 2009 found that Bergdahl likely intentionally left his outpost before he was captured. However, it did not conclude whether he intended to return.
Polls have shown most people would support military charges being brought if he is found to have deserted.