They were escorted by Rajesh Talwar's brother, Dinesh Talwar, and their lawyer, Tanveer Ahmed Mir. "The grief of losing Aarushi can not go but till now, it was only suppressed. They are not in a position to talk", he said.
Before their release from jail, the couple met other prisoners, officials said.
The Talwars had been lodged in the Dasna jail since November 2013 in connection with the twin murders.
There was mayhem on the road outside the jail with mediapersons scrambling for bites and images as the Talwars walked out of the prison.
Upon the request of the Talwars, a police team escorted them from jail to their home in Jalvayu Vihar in Noida, the same colony they lived in with Aarushi, but a different house.
On May 16, 2008, Aarushi was found murdered inside her bedroom in the flat in Jal Vayu Vihar - her throat slit with surgical precision.
"A conspiracy had been hatched to implicate our clients", lawyer Mir said after their release, which came two days ahead of Diwali.
"Aarushi and Hemraj's names were linked in this story", he said.
A high court bench, comprising of Justice B.K. Narayana and Justice A.K. Mishra, had reserved its verdict, in September, in the appeal filed by Aarushi's parents, who were sentenced to life in the jail. "But today, we only want to say none of them were guilty", he added. "We kept control on our emotions for four years as it was not easy to fight for the truth", Dinesh said.
"We forgot everything else and our motive was to clear Aarushi's name". There, speaking to the media with folded hands, Dinesh said, "More than Rajesh and Nupur's freedom, our fight was to clear Aarushi's name, which was being linked with Hemraj". He did not say that he wanted to come out of jail.
"Please give them some time to get back to a normal life", he said. "For five years, they did not have any support and now, we have to give them this support", he said. They are not even in a condition to soak in the fact that they are now home. "It will take some time for them to register this", he said, adding that it had been "emotionally draining" for them.