Brain cancer survivor Ashya King and his parents returned to Portsmouth in the UK after living abroad like refugees for ten months.
The six-year-old is believed to have recovered from the medullablastoma after receiving proton beam therapy in Prague.
An international manhunt was set off after the Kings took him out of Southampton hospital without doctors' consent to seek more effective treatment for their child.
The couple did not want to put Ashya through chemotherapy and took him to their holiday home in Spain from where they were arrested and held in prison.
The High Court eventually approved the move to take him to Prague for proton beam treatment, which it noted was more effective than the treatment offered under NHS.
Brett and Naghmeh King said they overcame their initial fear and decided to return home as they had "no reason to hide".
The Portsmouth Local Safeguarding Children Board which reviewed the case is expected to submit its report in the autumn.
Brett, 52, told the media: "We feel sufficiently assured by Portsmouth City Council that it's all finished. However, we do have a lingering fear that one day we will get a knock on the door."
He added that the family's conscience is clear on the decision they took.
Ashya was diagnosed with a medulloblastoma, which was successfully removed by surgeons in Southampton on 24 July. He then had a further operation on his brain on 22 August and was offered radiotherapy.
Proton beam therapy is believed to cause marginally less damage to the brain and heart.
The therapy costs £100,000 per patient and is not widely available on the NHS though commonly used in Europe.