67-year-old Singh, who was pardoned by Pakistan President Pervez Musharraf after being convicted on espionage charges, reached the Indian side at 12:45 pm after a lingering farewell by Pakistan Human Rights Minister Ansar Burney and officials.
Immediately after crossing over, white bearded and bald Singh was taken to a conference hall of the BSF where he met his family members including his 65-year-old wife Paramjit Kaur, who was camping in Amritsar since Friday last.
As he arrived at the Wagah border, the former Punjab police constable said "I have no wishes left. I have got everything now. I thank President Pervez Musharraf and Human Rights Minister Ansar Burney".
Singh, who was only 32-years-old when he was arrested in Rawalpindi, said, "A new life has begun for me and I am grateful to the people of Pakistan and to the Pakistani government."
Singh said he would want to go back to Pakistan, this time on a valid Indian passport, to lay a 'chadar' at the shrine of Baba Farid.
Struggling to control her emotions, Paramjit Kaur said it was the happiest moment of her life. "I am very happy today".
"I have been through bad times in bringing up my three children single-handedly. But I am looking forward to a new dawn," she added.