HENDRY COUNTY, Fla.- It's been two years since Lestina Rumph hugged her son Timothy.

Today a judge signed paperwork to release him, saying the murder he committed was justified. Our cameras were there for the emotional reunion. 

It's been a long road for the Rumph family after Timothy killed Gee Gee Gary in December 2010.    

"I'm sorry it happened the way it happened. I wish I could take back the hands of time," said Rumph.

He told a judge Gary was chasing him around the Harlem area of Clewiston with a gun. When Rumph wrestled it away, he shot Gary in the arm and killed him.

Rumph said it was self defense from the beginning.

"I put it in God's hands. And kept praying," said Rumph.

His attorney, Brian Edwards, says he wasn't sure his client would be released, but he knew he had a shot. He found out the motion was granted last week.

It's the first time a judge has granted a Stand Your Ground motion in Hendry County.

Now Rumph is ready to find a job and move on with his life as soon as he gets home.