The group escaped their captors at night and used the stars for navigation to trek through dense bush for hours, a spokesman said.
Christian Aid Ministries announced the group were finally free last week, after being held captive since October.
In total, 17 missionaries and their families were abducted, after they had visited an orphanage in the town of Ganthier, east of the capital, Port-au-Prince. Five others had already been released.