In a statement issued through the Department of Foreign Affairs and Trade,the couple said they were glad to be back in Australia"with those we love".
"While the past few months have been very difficult,we know it has also been tough for those back home who have been worried for us,"they said.
Foreign Affairs Minister Marise Payne said the release of an Australian couple after months in jail "is a source of great relief and joy for everyone".Credit:Alex Ellinghausen
"We are grateful for the efforts of the Australian government in helping secure our release,and we thank our family and friends for their love and support."
The pair had been globetrotting since June 2017 and documenting their travels on Instagram and YouTube.
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Their blog,The Way Overland,detailed their planned trip from Perth to the UK.
Senator Payne said the government continued to seek the return of a third Australian,Melbourne University lecturer Dr Kylie Moore-Gilbert,who had been in detention for a year,having reportedly been handed a 10-year sentence.
Mr Firkin and Ms King said while they understood the intense public interest,they requested the media"let us and our families get back to our normal lives".
"We know there are others who remain in detention in Iran,including a fellow Australian,and believe intense media coverage may not be helpful for efforts to bring them home."
Senator Payne said it was a"source of great relief and joy to everyone"that the couple's ordeal was now over.
"The government has worked very hard through diplomatic channels for some time to secure their release as well to ensure they were treated appropriately while detained,"Senator Payne said in western Sydney.
Australian travel bloggers Mark Firkin and Jolie King have been released from jail in Iran.Credit:Instagram
She said negotiations had been done"discretely"and noted each case of an Australian detained overseas was different and required"a specific and a particular response”.
The British government had also demanded the couple's release,with Foreign Secretary Dominic Raab last month calling the Iranian ambassador to the United Kingdom.
The UK Foreign Office said at the time Mr Raab had"raised serious concerns about the number of dual national citizens detained by Iran and their conditions of detention".
Senator Payne had met with her counterpart,Iran's foreign minister Javad Zarif,several times to press for the release of the detained Australians.
Dr Kylie Moore-Gilbert,a Melbourne University academic specialising in Islamic studies,was imprisoned in Iran in October 2018.
Dr Moore-Gilbert,a dual UK-Australian national,is Cambridge educated and worked as a lecturer in Islamic Studies at Melbourne University.
She was working with the university's Asia Institute,specialising in Middle East politics,before she was imprisoned in the Islamic Republic in October 2018.
Dr Moore-Gilbert has received only limited consular visits since her arrest and distraught family members have not been granted access.
Senator Payne said the situation was “very complex”.
“She has been detained for some considerable time,and has faced the Iranian legal system and has been convicted and sentenced,"she said.
"We are continuing our discussions with the Iranian government and we do not accept the charges upon which she was convicted and we would seek to have her returned to Australia.”