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Singh, on a globe-trotting peace mission, had travelled to 62 countries before he was jailed in Peshawar for entering the country without valid documents.
"I'm happy to be free," the engineer from Lucknow told reporters after his release.
Vikas (42), who started his journey on his bicycle 14 years back said he would love to resume his journey. "This depends on how they (authorities) treat me in India," he said.
He was arrested two months ago when he entered Pakistan from Afghanistan after failing to secure a visa despite several attempts. He was later sentenced by a Pakistan Political Agent of the Province to three years rigorous imprisonment.
Pakistan newspapers quoted prison officials in Peshawar as saying that Singh has been handed over to police to be escorted to Wagah border.
Prior to his release, Singh was visited by an Indian diplomat and a compatriot doctor on Wednesday.
"There existed no case against him. He was detained for his unlawful entry into Pakistan," Pakistan's The News daily quoted the North West Frontier Province (NWFP) home secretary as saying.
EARLIER REPORT Vikas Singh's case taken up with Pakistan: PTI
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