During his last talks with media Surjeet confessed that "I was a spy for India" but soon-after he completed his sentence Indian authorities stopped him.
Singh who has served a life term following his arrest on charges of spying, was freed from Lahore's Kot Lakhpat Jail here on Thursday.
Singh walked home a free man through Wagah, the main crossing on the border that links Lahore with Amritsar. Hundreds of people along with his wife and children gathered at the land border crossing in Punjab to receive him.
"I am meeting my children after 30 years and returning to my country so I am happy," Singh, said to be at least 69, told reporters at Wagah.
Surjeet said prisoners on both sides of the border should be released by the respective governments.
"I was treated well by prison officials and I am thankful to them," he said.
Singh said he first heard of his impending release on television and called for the release of prisoners held on both sides of the border.
Later in 1989, his punishment was commuted to life imprisonment by former president Ghulam Ishaq Khan as part of a general order to commute all death sentences awarded during the military regime.
On Tuesday night, President Asif Ali Zardari ordered for Singh’s release as a goodwill gesture. The convict has already completed his stipulated punishment.