"We are the first group to reach the safe area in Iraq," said Jagar, leader of the group of Kurdistan Workers' Party (PKK) fighters that comprised nine men and six women.
The fighters, who arrived in the Harur area at about 6:00 am (0300 GMT), were armed with Kalashnikov assault rifles, light machineguns and rocket-propelled grenade launchers.
They were greeted by PKK members based in Iraq, who embraced them and shook their hands.
"Our withdrawal came according to orders from the leader (Abdullah) Ocalan, as we want to open a way for peace through this withdrawal," Jagar said, referring to the PKK chief jailed in Turkey.
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"We faced many difficulties because of rain and snow" during seven days on the road, he said, adding that they were observed by Turkish aircraft.
"We were getting ready to start a big fight with Turkey, but we responded to the call of our leader Ocalan and withdrew," said Midiya Afreen, one of the group.
The PKK has fought a 29-year nationalist campaign against Ankara in which some 45,000 people have died, but is now withdrawing its fighters from Turkey as part of a push for peace with the Turkish authorities.
The roughly 2,000 fighters in Turkey are leaving on foot, travelling through the rugged border zone to reach safe havens in Iraq's autonomous Kurdistan region, where they will join the thousands of fighters already present.
Turkey's Prime Minister Recep Tayyip Erdogan has repeatedly vowed that retreating rebels "will not be touched," and said that "laying down weapons" should be the top priority for the PKK.
"We will continue in organising and training, and we are waiting for the Turkish government to take the necessary steps for peace," said Rohat, an Iraq-based PKK commander who was in Harur today.