Kracht's stepdad, Dale Hancock, coordinated the surprise with Kracht's grandparents, picking him up at he airport and recording the surprise on video.
"I was sitting in the kitchen and said, 'Hey, Mom,'" Kracht said. "And then she started running away."
Kracht and his mom spent the entire weekend together.
"We mostly spent the time sitting in the car talking and driving around reminiscing," Kracht told ABC News. "I got to see the house I grew up and the school I went to."
It was the first time the pair saw each other in person since Kracht enlisted in the Army more than four years ago.
Before then, they communicated via phone, text and video calls.
Watch the video below: