Hyeon Soo Lim, 62, sat in the front row of a packed worship hall at Light Presbyterian Church in Mississauga, a Toronto suburb.
Lim was detained in February 2015 while on a humanitarian mission in Rajin, North Korea.
U.S. President Donald Trump tweeted Friday morning that "military solutions" are "locked and loaded" should North Korea act unwisely, capping off a week that saw North Korea lay out plans for a military strike on Guam, an American territory in the region.
The release came after diplomatic negotiation details of which are not known.
The pastor's son James Lim said his dad was happy to be back home in Canada, stopping for coffee and a doughnut at Canada's popular Tim Horton's coffee chain on his way home from the airport.
"Reverend Lim's release was a miracle, work of God", said the Korean church's founder, emeritus pastor Chai Hoon Park.
The pastor of the canadian released by the North Korea has described Sunday, back at home, the hard conditions of its two and a half years of detention by speaking of a "solitude oppressive".
"We would also like to extend a particular thank you to Ambassador Torkel Stiernlöf and the staff at the Swedish Embassy for their tireless efforts and critical role in securing his release".
Mr. Lim's family had grown increasingly concerned for his wellbeing following the death of Mr. Warmbier.
"Now more than ever, he's never felt more Canadian", the son said. "It catalyzed discussions over additional human-rights-focused sanctions and prompted countries to re-evaluate their policies on tourism to the North", said Andrea Berger, senior research associate at the Middlebury Institute of International Studies.
The pastor was considered his arrest as one of the most influential christian missionaries in North Korea.
She said when Canada's allies are threatened, including the United States, "we are there".
In direct conversations with North Korea and through China, Freeland said Canada sought to "get North Korea to understand that it must get off this path, which is so destructive for North Korea and the world".