Hundreds of people attended the news conference, but Berry's sister emerged instead to request privacy for their family.
"We are so happy to have Amanda and her daughter home. ... At this time, our family would request privacy so [we] can recover," Berry's sister, Beth Serrano, said.
Serrano also thanked community members and the media for their support throughout the years.
A minivan arrived at the family's house shortly before noon, reportedly carrying Berry and her daughter.
FBI Special Agent Vicki Anderson asked that people respect Berry's privacy and not ask questions.
Ariel Castro is suspected of holding Berry and two other missing women in his house in Cleveland. Police arrested him and two of his brothers. Castro is now cooperating with police and giving investigators details about what happened at his house.
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