Clinton, 63, jumped back onto the world stage last year with an unannounced trip to North Korea on a mission to negotiate the release of two imprisoned American journalists.
Lenard had earlier granted the 56-year-old leave to travel to Cuba to attend a memorial for his father, the second trip home he had been allowed to make since his release in 2011.
Ahead of the three-day trip, a leaked PA report for international donors urged them to pressure the Israeli government to release its revenues, warning of a "possible slide into institutional and political collapse".