ERJ 170/175 First Officer reported receiving a low altitude alert from ATC during approach. Flight crew continued approach.

Narrative

Captain (CA) flying. I was First Officer (FO) monitoring. Flying a Part 91 reposition flight ZZZ1-ZZZ. ZZZ was advertising visual approach Runway XX. We set up to use RNAV (RNP) Runway XX to backup the visual approach. The Captain intercepted the approach course just inside ZZZZZ; but did not start slowing soon enough or start the turn soon enough so we went full scale through the approach course before coming back onto course by ZZZZZ1. Passing over the hilltop labeled 2058; we received low altitude alert" from the ATC Tower asking if we had terrain in sight. I replied affirmative and we continued to landing. We were on glide path and course at the time of the alert. I do not remember the vertical speed; so we may have violated the 1000fpm within 1000 ft. agl limit. I think the approach was stable because we were not yet within 1000 ft. of the touchdown zone; however in retrospect we should have executed a go-around because we did not know the reason for the low altitude alert. Suggestions: Be aware that approaches often bring us within 1000 feet of terrain before we are within 1000 ft. of the touchdown zone and plan descent accordingly. Slow down sooner. Why did the Captain wait so long to slow down. I should have prompted him to slow. RNP approaches may not be good candidates to back-up a visual approach because Tower usually does not expect the low-level maneuvering or offset inbound course."