(CNN) -- Two Americans who spent months imprisoned in North Korea are back on U.S. soil, after North Korean leader Kim Jong Un ordered their release. They were freed following a rare visit to the secretive East Asian nation by a top U.S. official, who brought with him a letter from U.S. President Barack Obama. A plane carrying Kenneth Bae and Matthew Todd Miller, the last two American citizens known to be held by North Korea, landed at Joint Base Lewis-McChord in Washington state late Saturday. The two men got off the U.S. government plane -- Bae first, then Miller -- and walked into the welcoming arms of smiling relatives who were waiting on the tarmac.
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Kenneth Bae's sister says her brother is in good spirits, bears no ill will
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Bae thanks Obama and the North Korean government for his release
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Plane carrying Bae and Matthew Todd Miller lands at a base in Washington state
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North Korea says it received apology from Obama for the men's actions
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"I'd like to thank the @placeholder North Korean government, as well -- allowing me to come home and be united with our family," he said, using an abbreviation for North Korea's official name, the Democratic People's Republic of Korea.
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A @placeholder court in September convicted him of committing "acts hostile" to North Korea and sentenced him to six years of hard labor.
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A North Korean court in September convicted him of committing "acts hostile" to @placeholder and sentenced him to six years of hard labor.