Kate, who recently fronted a documentary special about her husband's illness, shared the happy news on today's (April 9) episode of Good Morning Britain.
The family, along with the NHS staff treating Derek, made the decision to move him back into his own home in a bid to aid recovery.
"I think anybody whose husband or loved one has been in hospital for a long time, what you want is for them to be home," Kate said. "That's what you're absolutely campaigning and wanting to happen."
After recent coronavirus restrictions meant that Derek was unable to receive visitors, Kate and his doctors decided that his move home would enable "some of the therapeutic things... to help him move forward".
"It was really looking at his cognition, looking at his consciousness and trying to think about what will be the best way to improve that," she continued.
Reflecting on Derek's "very unique" situation, the GMB host explained that her husband will continue to receive specialist round-the-clock care.
"We've got all sorts of professional people making sure everything is safe and then see how being in the family environment could help," she added. "It's been amazing. It's been amazing."
Kate also offered viewers an update on Derek's condition, saying that he has "more movement in his hands [and] can show emotion".
She added: "[The children have] not stopped cuddling him... They're just delighted he's home. I'm trying to balance the emotions of the next stage...
"It's been amazing, it's been amazing. It's going to take a lot of adjustment... We've got to stay positive and have hope. We'll get there. He's here!"
Good Morning Britain airs weekdays from 6am on ITV. Kate Garraway's book The Power of Hope, reflecting on the family's journey, is available to pre-order now.
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