We also recently addressed this area of ministry. We learned that the state of TX requires a person on the registry to have someone with them (Someone who can clear a background check) at all times when their within a certain distance from a school or church. IN our case, we have a gentleman that serves as a security officer for the USPS who was not serving in the church. We approached him with this task and he has agreed. The person who is a registered sex offender can only come to church if our officer is present.
I will say that this is a huge ministry opportunity. While it may bring up just concern, we have to remember that because of their poor choices, it has put them in a place where they have very little community in their lives. Most of them struggle to keep a job and end up living alone. It's a great opportunity for churches to at least provide a little bit of normalcy to their lives.
Keep in mind, the person that stays with them has to go everywhere they go, Everywhere!! They cannot leave their side until they have left the property.
Hope this helps.