Boyle provided a written statement to The Associated Press on the plane saying his family has "unparalleled resilience and determination."
Coleman and Boyle were rescued Wednesday, five years after they had been abducted by a Taliban-linked extremist network while in Afghanistan as part of a backpacking trip. Coleman was pregnant at the time. Coleman is from Stewartstown, Pennsylvania, and Boyle is Canadian.
The final leg of the family's journey was an Air Canada flight yesterday from London to Toronto.
In the two seats next to her were her two elder children.
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In the seat beyond that was Boyle, with their youngest child in his lap. US State Department officials were on the plane with them.
Boyle gave The Associated Press a handwritten statement expressing disagreement with US foreign policy.
"God has given me and my family unparalleled resilience and determination, and to allow that to stagnate, to pursue personal pleasure or comfort while there is still deliberate and organized injustice in the world would be a betrayal of all I believe, and tantamount to sacrilege," he wrote.
He added that one of his children is in poor health and had to be force-fed by their Pakistani rescuers.
Pakistan's Foreign Ministry spokesman Nafees Zakaria said the Pakistani raid that led to the family's rescue was based on a tip from US intelligence and shows that Pakistan will act against a "common enemy" when Washington shares information.
US officials have long accused Pakistan of ignoring groups like the Haqqani network, which was holding the family.
A US national security official, who was not authorized to discuss operational details of the release and spoke only on condition of anonymity, said the US obtained actionable information, passed it to Pakistani government officials, asked them to interdict and recover the hostages -- and they did.
The operation appeared to have unfolded quickly and ended with what some described as a dangerous raid, a shootout and a captor's final, terrifying threat to "kill the hostage."
Boyle told his parents that he, his wife and their children were intercepted by Pakistani forces while being transported in the back or trunk of their captors' car and that some of his captors were killed. He suffered only a shrapnel wound, his family said.
A US military official said that a military hostage team had flown to Pakistan Wednesday prepared to fly the family out. The team did a preliminary health assessment and had a transport plane ready to go, but sometime after daybreak Thursday, as the family members were walking to the plane, Boyle said he did not want to board, the official said.
Boyle's father said his son did not want to board the plane because it was headed to Bagram Air Base and the family wanted to return directly to North America. Another US official said Boyle was nervous about being in "custody" given his family ties.
The Canadian-born Omar Khadr was 15 when he was captured by US troops following a firefight and was taken to the US detention center at Guantanamo Bay.
Officials had discounted any link between that background and Boyle's capture, with one official describing it in 2014 as a "horrible coincidence."
The US Justice Department said neither Boyle nor Coleman is wanted for any federal crime.
But the group also operates like a criminal network.
Unlike the Islamic State group, it does not typically execute Western hostages, preferring to ransom them for cash.
The Haqqani network had previously demanded the release of Anas Haqqani, a son of the founder of the group, in exchange for turning over the American-Canadian family.
In one of the videos released by their captors, Boyle implored the Afghan government not to execute Taliban prisoners, or he and his wife would be killed.
US officials have said that several other Americans are being held by militant groups in Afghanistan or Pakistan.