Louis Njoki reunited with the family members at Wilson airport after undergoing medical treatment.
Njoki was rescued by Galmudug Special Forces after more than three years in captivity on Saturday.
Louis Njoki holds her 12-year-old daughter as she is welcomed by family members at the Wilson airport on November 1, 2016.
She was captured along with her partner James Kuria by Somali pirates while delivering medicine in the country in 2014.
Kuria was freed during a raid by Somali security forces in February last year.
Three other Kenyan nationals including George Mburu and George Macharia are still in the hands of their captors since 2014.
The two were working for a construction company in Mogadishu when they were kidnapped by militia from Habargidir.
Another Kenyan Patrick Amukhuma, who was kidnapped along with Dr Murray Watson in 2008, is still missing.
The group believed to have captured the two Kenyan civil engineers is under the control of Mohammed Gafanje.
Mwagura said the pirates have demanded ransom to set the three free, but did not specify the amount.
He added the three were living in deplorable conditions in Harardhere District in Galgaduud region.