Ahed Tamimi, who spent eight months in an Israeli prison for slapping an Israeli soldier, is seen upon her release in her home village of Nabi Saleh, July 29, 2018.
"The occupation is doomed to end and [Israeli] detention will not break our will", the 17-year-old teenager added.
Tamimi has been touted by Palestinians as a symbol of resistance to Israel's military occupation while many Israelis accuse her of being an agitator seeking to provoke soldiers on camera.
She accepted an eight-month prison sentence in May as part of a plea deal and was released early for administrative reasons at the discretion of Israel's prison service.
"I thank everyone who supported me in this sentence and supports all the prisoners". But some Israeli lawmakers said that the 17-year-old's punishment should have been much harsher - the deputy speaker of the Israeli Knesset, Bezalel Smotrich, wrote on Twitter in April that Tamimi "should have gotten a bullet, at least in the kneecap".
The curly-haired teen was greeted in her West Bank village with cheers from fellow activists and extended family, and photographs showed a tearful Tamimi embracing relatives. She says she is to deliver the message of female inmates in Israeli jails to Palestinians.
From her home, Ahed headed to a visit to the grave of Palestinian leader Yasser Arafat.
Her village in the West Bank is known for weekly protests against land seizures by Israel, leading to confrontations with the military and Jewish settlers. Nariman and Nur were also arrested.
On Sunday she is expected to step back into the spotlight at a scheduled press conference at her home after her release. She was arrested in December and tried in an Israeli military court on charges including assault, stone-throwing and incitement to violence.
On Saturday, Israeli police detained two Italian artists and a Palestinian for painting an enormous mural of Tamimi's face on the Israeli separation wall at Bethlehem.
Many Israelis also praised the restraint of the soldiers, who remained calm throughout, though others said her actions merited a tougher response.
Ahed's case has trained a spotlight on the detention of Palestinian minors by Israel, a practice that has been criticised by worldwide rights groups.
Her father Bassem put his arms around his wife and daughter as they walked together along the road, the crowd chanting "we want to live in freedom".
Many Israelis, however, still believe Tamimi poses a serious risk.
Israeli Cabinet minister Uri Ariel said the Tamimi case highlighted what could happen if Israel lets its guard down.