Mr. Simpson, 70, was released at 12:08 a.m. local time from Lovelock Correctional Center in northern Nevada, a state prisons spokeswoman, Brooke Keast, told The Associated Press.
The Facebook post also included a photo and video of Simpson as he left the building and walked into the parking lot.
"He truly is remorseful and we just want him to come home so that we can move forward for us", Simpson's daughter Arnelle said at the hearing.
Simpson is free after he was officially released from prison in the early hours of October 1, after spending nearly nine years imprisoned for an armed robbery in Las Vegas. Now that Simpson is out of prison, close friends say he isn't going to hide.
"We will continue pursuing the now $60 million judgment awarded to our family after the jury found that Simpson willfully and wrongfully caused the deaths of Ron and Nicole, as well as remain dedicated in our commitment to domestic violence awareness, victim advocacy and judicial reform", the continued.
The 2007 hotel room heist in Las Vegas brought the conviction and prison time that Simpson avoided in the killings of his ex-wife and her friend after his 1995 acquittal in Los Angeles.
"Our biggest concern was our safety and the public's safety and not wanting anybody, paparazzi, to follow him", Keast said.
Though she doesn't control the Corrections Department, Attorney General Pam Bondi on Friday urged the department to reject any request to transfer Simpson's parole, citing factors including his history of violence and destructive behavior.
Although he is no longer in prison, Simpson will remain on parole until September 29, 2022.
The Nevada Board of Parole Commissioners ruled in July that Simpson could be freed as early as October 1. "He'll be OK", Scotto said to USA Today.
Keast said Simpson was "upbeat, personable and seemed happy to get on with his life".
Upon his release, Simpson will have to serve five years of parole supervision. He told parole board members he hoped to move to Florida, where he has friends and family, a plan that must be approved by authorities there.