On Wednesday, the 27-year-old mother returned home.
As a motorcade approached Berry's home around 11:35 a.m. ET, Berry and her 6-year-old daughter entered the house through a back door accompanied by family members as neighbors clapped and cheered in a swell of emotion.
Berry's sister, Beth Serrano, addressed the crowd shortly after:
"We have Amanda and her daughter home. I want to thank the public and the media for their support and encouragement over the years," she said with tears in her eyes. "At this time our family would request privacy so my sister and niece and I can have time to recover. We appreciate all you have done for us for the past 10 years. Please respect our privacy until we are ready to make our statement."
Ramsey told Anderson Cooper on AC360 on Tuesday that he "heard that girl scream and saw [a neighbor] run across the street, and I went outside and wondered what he was doing, and ... Amanda said 'I'm stuck in here, help get me out.'"
He continued, "... And she's like 'I've been trapped in here, he won't let me out, me and my baby.' "
Upon calling 911, Berry told a dispatcher, "Help me. I'm Amanda Berry, I've been kidnapped and I've been missing for 10 years and I'm, I'm here, I'm free now."
Berry's call led police to a house near downtown Cleveland where Berry, Gina DeJesus and Michelle Knight, who all vanished a decade ago, were found Monday.
Berry disappeared at age 16 on April 21, 2003, when she called her sister to say she was getting a ride home from her job at a Burger King. About a year later, DeJesus vanished at age 14 on her way home from school. Police said Knight disappeared in 2002 and is 32 now.
For much more on the Cleveland kidnapping case, including details about the women's harrowing escape, pick up this week's PEOPLE, on newsstands Friday