Coleman, 31, was pregnant at the time of abduction.
The rescue was announced in a statement Thursday from Pakistan's army.
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The release, which came together rapidly Wednesday, comes almost five years to the day since Coleman and Boyle lost touch with their families while traveling in a mountainous region near the Afghan capital, Kabul. And one of my generals came in, they said, you know, I have to tell you, a year ago they would have never done that. The hostages were rescued "through an intelligence-based operation by Pakistani troops and the ISI (Inter-Services Intelligence)".
It was not clear when the video was shot, but it was released after rumours swirled in Kabul that the government was planning to execute Anas Haqqani, son of the Taliban-allied Haqqani network's founder, who has been held since 2014.
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The couple went missing in Afghanistan in 2012 and the Afghan Taliban later claimed responsibility for abducting them. They had started their trip in Russian Federation, then traveled to Kazakhstan, Tajikistan and Kyrgyzstan, before finally ending up in Afghanistan.
"We ask that you are merciful to their people and God willing they will release us", she said in the video, addressing Trump in December. Unlike the Islamic State group, it does not typically execute Western hostages, preferring to ransom them for cash. "But that will have to change, and that will change immediately".
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