The 53-year-old naturist left home seven years ago and has spent more than six years in jail since arriving in Scotland in 2006.
He has now been reunited with his mother Nora, 86, at her home in Eastleigh, Hampshire.
After strolling up to his mother's house wearing only a hat and hiking boots, he said: "It's great to be home.
"I didn't want to think about it before I'd made it through the door but I'm here at last. Seven years is a long time and I felt emotional walking in."
His mother said it was lovely to have him home, but added she thought his naked trek had been "a bit daft".
Gough, who faces a public order charge after walking naked past a school in Stoke on Monday, has also been in touch with his son Yarin, 14, and daughter Kiana, 16.
He was released from Edinburgh's Saughton prison last October and was arrested another four times after crossing the Border later that month.