"She was so happy to see him," a source tells PEOPLE exclusively. "It was a very emotional visit."
Joe, 45, began serving a 41-month prison sentence at Fort Dix in New Jersey in late March after being convicted of bankruptcy fraud in October 2014.
Initially, Teresa, 43, was not permitted to visit her husband in prison.
"Teresa will be visiting with the girls as quickly as she is approved by the prison," family attorney James J. Leonard Jr. told PEOPLE last week.
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Teresa's approval was complicated due to the rules of her supervised release. She was released from the Federal Correctional Institution on Dec. 23, but was under house arrest until Feb. 5.
"Joe is doing well, but really misses Teresa and the girls," adds the source.
"The staff and administration at Fort Dix have all been very pleasant to deal with, they are all extremely professional," Leonard previously told PEOPLE.