American contractor Alan Gross landed on U.S. soil Wednesday, hours after he was released by Cuba in a gesture that signals the beginning of new U.S.-Cuban relationships. 

Gross' release on humanitarian grounds came a day after U.S President Barack Obama and Cuban president Raul Castro spoke on the phone for about an hour. It was the first presidential-level conversation with Cuba since the Cuban revolution.

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CNN reports that a U.S. intelligence source, who has been jailed in Cuba for more than 20 years, was also released.  He was not identified for security reasons. 

As part of the deal between Obama and Castro, the U.S released three Cuban intelligence agents conviced of espionage in 2001. The three belonged to the so-called Cuban Five who were part of the Wasp Network which collected intelligence on prominent Cuban-American exile leaders and U.S. military bases.

One of the five was linked to the downing of the two civilian planes operated by the U.S.-based dissident group Brothers to the Rescue in 1996, in which four men died. The other two were indentified as Luis Medina, also known as Ramon Labanino, and Antonio Guerrero. The remaining two - Rene Gonzales and Fernando Gonzales - have earlier been released after serving most of their 15-year sentences. 

After announcing Gross's release, President Obama said the U.S will now embark on a new relationship with Cuba, possibly starting with an easing of travel and economic restrictions on the country. The two nations are also set on re-opening embassies and restoring diplomatic ties. The U.S. closed its embassy in Havana in 1961 after it stopped all exports to Cuba. 

Wednesday's announced follows more than a year of secret talks in Canada and in the Vatican, directly involving Pope Francis, the first Latin American pope. Also a year ago, Omaba and Raul Castro met and spoke briefly during Nelson Mandela's funeral. 

A White House statement outlined some of the plans related to restoring diplomatic ties with Cuba, including a review of Cuba's designation as a state sponsor of terrorism, easing a travel ban for U.S. citizens, and lifting the 54-year-old trade embargo, which will need congressional approval. 

President Castro said the changes were something Cuba had been pressing for for a long time, according to a BBC report. 

"Ever since my election... I have reiterated on many occasions our preparedness to hold a respectful dialogue with the government of the United States based on sovereign equality," he said.

TagsCuba, Alan Gross, Obama, Raul Casto