The doctor appeared to be in "good condition and uninjured" at Bagram Airfield after his abduction. Morning Star said "he will receive precautionary examinations and debriefing before returning to his Colorado Springs home, probably within a few days."

His family issued a statement Sunday acknowledging "harrowing" uncertainty in recent days and extending its "deepest condolences to the family of the American sailor who died during Dilip's rescue."

"We are incredibly grateful for the multiple agencies of the U.S. government that have supported us in this difficult time, and especially the quick response by our military and partner allies to rescue Dilip," the family said. "They showed great heroism and professionalism."

Despite the kidnappings of Joseph and its two other staffers, Morning Star reiterated its "commitment to continue its work" in Afghanistan.