President Obama calls it a ‘wonderful day’ for the families of two US citizens being held for crimes against the reclusive communist state.
The White House said Kenneth Bae and Matthew Todd Miller were returning to America accompanied by James Clapper, the director of national intelligence.
Mr Bae, a missionary from Washington state, was arrested in North Korea in November 2012 and sentenced to 15 years hard labour for crimes against the state.
Mr Miller had been in custody since April this year and had been sentenced to six years hard labour on an espionage charge.
The United States had called for their release on humanitarian reasons. Bae was said to have health problems.
Mr Clapper’s role in the release was unexpected and the US government gave no other details yet of how it came about.
The move came just hours before US President Barack Obama left for a trip to Asia that is to include talks with Chinese leaders about how Beijing can use its influence with North Korea to rein in its nuclear programme.
It’s a wonderful day for them and their families. Barack Obama
Mr Obama said: “It’s a wonderful day for them and their families. Obviously we are very grateful for their safe return and I appreciate director Clapper doing a great job on what was obviously a challenging mission.”
Bae’s son Jonathan said he spoke to his father over the telephone on Friday night, saying: “I’m very thankful. It’s awesome. I couldn’t be happier. Finally it’s over and he’s coming home.
“The brief time on the phone, he sounded good. I’m sure he will be back to his old self in no time.”
The US State Department issued a statement thanking Sweden for its part in the release of Bae and Miller.
Sweden often acts as a diplomatic intermediary for the United States in North Korea because Washington has no diplomatic ties with Pyongyang.
In late October North Korea freed Jeffrey Fowle, 56, a street repair worker from Miamisburg, Ohio, who had been arrested in May for leaving a Bible in a sailor’s club in the North Korean city of Chongjin, where he was traveling as a tourist.
In September, Pyongyang allowed Bae, Miller and Fowle to be interviewed by CNN and the Associated Press. The men said they were being treated humanely and appealed to the US government to push for their release.
The interview was interpreted as a sign that North Korea was looking for a way to open dialogue with Washington.
Mr Miller, of Bakersfield, California, and said to be in his mid-20s, had gone to North Korea on a tourist visa.
Mr Bae’s family said on its website that Bae had been operating out of China since 2006 and had led more than a dozen tours of North Korea.
They said his health problems included diabetes, an enlarged heart, deteriorating vision and back and leg pains.