Claus Bech, managing director of vessel owner Shipcraft said in a statement that he had talked to all the crew and that they were in good spirits.
The six men were kidnapped by Somali pirates following the seizure of the 1,800-dwt Leopard (built 1989) in January 2011.
Following their release, they were transported to the Danish frigate Iver Huitfeldt by helicopter.
The frigate then departed for the Seychelles and from there the six men were flown to Europe by an ambulance plane.
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