The 87-year-old entertainer arrived at his riverside home in a blue vehicle at around 9am on Friday (UK time) after leaving Stafford Prison where he served time for previous convictions.
Harris, who denies four charges of indecent assault against three women between 1971 and 1983, had previously appeared via video link.
"As a result Mr Harris will no longer be appearing in this court over the videolink following his release from prison".
Although his five-year sentence is ending, Harris is now on trial for several counts of indecent assault during events that occurred in the 1970s and '80s.
On another occasion the married artist is alleged to have fondled a 16-year-old "gofer" and squeezed her breast after he was paid £100 to take part in a TV celebrity sports contest involving Michael Aspel, Tony Blackburn and actress Rula Lenska in 1978.
Harris denies four counts of indecent assault.
"She said she had been groped by Rolf in a taxi", he told the court.
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She said she immediately told her sister who dismissed her saying "that's Rolf Harris, don't be silly".
She told the court: "I absolutely have not (fabricated evidence)".
The prison he will be released from on Friday, HMP Stafford, is a prison housing only sex offenders.
The court heard from the 1983 complainant that on New Year's Eve that year she was invited with her sister and other children to a live screening of an entertainment show at the BBC Television Centre featuring Harris.
"I went to (tell someone) and I think I said "something weird just happened" or "you won't believe what just happened".
The woman said she was "shocked and confused" by Harris's actions. He is now serving a five-year, nine-month jail term after being convicted by a jury of indecently assaulting four other women and girls.
The trial will resume on Monday.