"We are also extremely sad and in grief in respect to Rachel our Ranger who was killed".
We are extremely relieved that the release has happened, they are now on their way home to their families, which is obviously what we were all hoping for. "We do not plan to comment further".
"The suspension of tourism is being undertaken as an additional precautionary measure whilst an investigation is undertaken surrounding the recent events", authorities said in a statement.
The park released a statement saying Ms Baraka was trying to protect two passengers and the driver of the vehicle when it was attacked by armed assailants.
Park ranger Rachel Makissa Baraka, 25, was killed during the kidnapping, which took place near the village of Kibati just north of Goma.
Baraka was rushed to hospital following the attack, but died from injuries shortly afterwards.
"I pay tribute to the DRC authorities and the Congolese Institute for Nature Conservation for their tireless help during this bad case", Johnson said in a statement.
"She was one of the Park's 26 female rangers and was highly committed, showing true bravery in her work", said Park Director Emmanuel de Merode.
Together they have made the park the most unsafe in the world for rangers and conservationists to work in, with some 170 wildlife rangers killed there in the past 20 years, including five who were murdered along with their driver after an ambush last month.
Located in Congo's North Kivu province, the park is one of the most important conservation sites in the world, covering 7,800 square kilometres (3,011 miles) - three times the size of Luxembourg.