Two Americans who were freed from North Korean prison arrived on U.S. soil late Saturday, escorted by Director of National Intelligence James Clapper. Their plane landed at Joint Base Lewis-McChord, a military base in Washington state near Tacoma.

In a statement, as quoted by BBC, the U.S. Department of State said it "welcomes the release of US citizens Kenneth Bae and Matthew Todd Miller from the DPRK [North Korea], where they have been held for two years and seven months, respectively... The United States has long called on DPRK authorities to release these individuals on humanitarian grounds. We join their families and friends in welcoming them home."

Miller, 24, was imprisoned in April this year and sentenced to six years of hard labor for alleged "hostile acts" and was tried for espionage, while Christian missionary Bae, 42, was taken into custody in 2012 for alleged crimes against the state. He was sentenced to 15 years of hard labor.

"It has been a tremendously difficult time for my family," Bae said after his arrival.

Regarding Clapper's involvement in the release, a U.S. official reportedly said that nothing was offered in exchange for the detainees' freedom. The country's stand regarding North Korea's nuclear and missile programs remains the same.

The release of the two prisoners follows the release of yet another American who was detained in North Korea. Jeffrey Fowle, 56, was taken into custody mid this year for having allegedly left a Bible in a restaurant toilet in Chongjin city, and was charged for "anti-state crimes." He was freed last October.

In a Nov. 8 statement, issued prior to the detainees' arrival, the Office of the DNI said, "We welcome the DPRK's decision to release both Mr. Bae and Mr. Miller. We want to thank our international partners, especially our Protecting Power, the Government of Sweden, for their tireless efforts to help secure their release."