Two Americans who had been held captive in North Korea returned to the United States late Saturday, landing at a military base in Washington state.

Kenneth Bae and Matthew Miller arrived at Joint Base Lewis-McChord, where they were reunited with family and friends shortly before 9 p.m. PT Saturday.

Bae, a 46-year-old Lynnwood, Washington, resident, had been held for two years in a North Korean prison while his family in Washington worked tirelessly with lawmakers in the state and around the country to secure his release.

Both Bae and his sister, Terri Chung, spoke to reporters shortly after Bae's arrival. They both thanked U.S. and Swedish diplomats, as well as Bae's supporters.

"It's been an amazing blessing to see so many people involved," Bae said. "Thank you for supporting me and lifting me up and not forgetting me."

>> Read more trending stories

"Thank you for all your prayers and support and love," he said.

Bae appeared to be in good spirits. He carried his own luggage off the plane and joked about losing weight during his imprisonment.

Saturday morning, Seattle's KIRO-TV learned that Bae and Miller were on their way to Joint Base Lewis McChord.

It was a secret trip to North Korea by the director of National Intelligence that finally secured Bae’s release.

"I do ask the U.S. government and people out there to really put effort to send somebody,” he told a CNN reporter in September.

Exactly five minutes is all that was seen of him then as he pleaded for this very outcome.

Someone could be heard counting down off-screen during that interview with Bae in a North Korean prison.

In a statement from Bae's family Saturday, his sister and biggest advocate, Terri Chung, said, "Words cannot adequately express our relief and gratitude that Kenneth is finally coming home."

Two weeks ago, Chung told KIRO-TV that she was hopeful after learning another American held for six months in North Korea had been freed.

"It's just that kind of moment of hope, and could it possibly be that this could happen?" she told KIRO-TV’s David Ham on Oct. 21.

Statements of excitement and support poured in from Washington state politicians.

By phone Saturday, Sen. Patty Murray told KIRO-TV that only time will tell how the release of Bae and Miller will affect U.S. relations with North Korea.

"Certainly, the State Department will continue to work on those relationships,” Murray said.

Murray said right now the focus should be on Bae.

Bae's sentence of 15 years hard labor came after North Korea charged him with planning a religious coup against their government.

Bae always said he was just a missionary.