Paul, 60, and Rachel Chandler, 56, from Kent, were seized from their yacht off the Seychelles in October 2009.
Mrs Chandler said: "I'm enjoying being free". The couple said they were fine, but will undergo medical checks.
On release they were taken to Adado, then Mogadishu, and have now arrived in Kenya. The BBC held off reporting the release due to an injunction.
It observed the terms of the order obtained by the Chandlers' family which was intended to stop news organisations covering their release until they were safely out of Somalia.
