The so-called "fugitive mom" pulled into her San Diego home with daughter Maureen Walsh at about 12:15 a.m. Wednesday.
"I'm just so tired right now," LeFevre said to cameras that had been camped out, waiting for her. She had been traveling all day, stopping briefly in Los Angeles to see another family member.
"I was so positive today. I'm so happy in so many ways. I'm just so ... beyond. This has been such a long day," said LeFevre.
Family members met her at the Huron Valley prison, south of Ann Arbor. LeFevre pledged to resume her life in the San Diego area as a soccer mom.
"I just felt that with many people praying for me, this is going to end up good and it has. I'm back with my family and I'm very anxious to resume my life and go back to being Marie,” she said. She then rode away from prison in a Chrysler PT Cruiser.
The 54-year-old LeFevre, married and with three children, was living a comfortable life as Marie Walsh in San Diego before she was arrested in April 2008, more than 30 years after climbing a fence at a prison in the Detroit area. She was serving a sentence for a heroin crime.
A judge in September placed her on probation for the escape. Separately, the Michigan Parole Board voted in January to release her from prison on the drug sentence, saying she had led a productive and crime-free life in California.
But the board made her wait until Tuesday because of prison misconduct.