Dressed in a black leather biker's jacket and jeans, the disgraced aristocrat showed he has not lost his taste for classic transport.
He was jailed in 1996 after breaking up and hiding three Ferraris and a Maserati from his £20m collection, then claiming they had been stolen in a bid to clear his debts.
Outside Springhill open prison, near Aylesbury, Buckinghamshire, Lord Brocket said: "I'm just looking forward to a bit of normality and the freedom you really appreciate once you have been inside.
"It makes you reassess life and all your priorities and what is important and what is not.
"I have had a lot of time to reflect on everything. I have spent two and a half years inside and I obviously regret very much the distress I have caused everyone."
Starting 'new life'
He also said he was looking forward to being with his three young children, who he has not seen since his conviction. They now live in Puerto Rico with his former wife.
He refused to comment when asked if he had written a book about his experiences inside.
Lord Brocket's release is to be celebrated at a "breaking out party" on Sunday, which will be hosted by one of his closest friends, Nigel Hadden-Paton.
"It's not a party. It is one or two very good friends of mine who, unbeknown to me, arranged a little get-together for those people who have been very supportive to me while I have been inside," said Lord Brocket.
"Some people went way out of their way to look after me, and they are just getting together to say welcome home and back to a new life."
It is thought Lord Brocket leaves prison to face a £600,000 credit card and tax bill along with a personal overdraft of £8m.
During his time behind bars, he was given a weekly wage of just £15 to spend in the prison shop.
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