The veteran triathlete had right of way at the roundabout and Tawhai told APNZ last month that she did not see him on the road.
Mr Barfoot was not at the sentencing, but met Tawhai at a restorative justice session.
"I said to her, 'Don't worry about any [reparation] money. It's more important to look after your children,"' he said afterwards.
"She didn't see me. It was a moment's inattention. I guess it could have happened to me."
Tawhai had offered to do work around Mr Barfoot's home instead, an offer he also turned down.
During sentencing yesterday, Ms Hale said the restorative justice session had been positive for both parties.
"You've obviously formed a bond and he would be a good mentor for you," she said. "He has indicated he would waive the reparations, and I think that is an acknowledgement of the concern you had for him."
After the sentencing, Tawhai said she believed she would maintain a connection with Mr Barfoot.
She said she still struggled with what happened but felt privileged to have met Mr Barfoot, even under the bad circumstances.