He thanked Prime Minister Benjamin Netanyahu and others who had worked to bring him home, including US Secretary of State Hillary Clinton and US congressman Gary Ackerman.
He said he had been treated respectfully by the Egyptian authorities.
His mother, Irene, said she was overjoyed to have her son home. "My heart was broken for four and a half months," she said.
Mr Netanyahu expressed his gratitude to the Egyptian and US governments, adding that the deal to return him had been "hanging on a thread".