After hugging his wife, he reached into a bag and pulled out rocks -- souvenirs of the mine that was his prison for more than two months. Sepulveda gave them to Chile's president and the rescue workers.
The oldest of the miners, 63-year-old Mario Gomez, presented one of the greatest health concerns for officials, but seemed fairly healthy when he happily emerged.
Gomez hugged his family as he stepped out of the rescue capsule and, before leaving the site, dropped to his knees and prayed.
Sriel Ticona, the second to last man hoisted to safety, finally got to meet his baby daughter.
She was born while he was trapped underground. They called her Esperanza, meaning hope in Spanish.
But for one miner, it was a dose of harsh reality.
Yonni Barros, who has been married for 28 years, was not greeted by his wife but by his mistress.
His wife refused to greet him when he emerged from the rescue capsule.
The Chilean rescue effort has drawn praise from around the world, and President Pinera said his country's experience could provide valuable lessons on disaster response.
"In our case, we didn't waste a second. From the very first moment, we decided to take full responsibility for the rescue effort," Pinera said. "Second lesson, never lose your faith and hope. Never give up!"
On Wednesday afternoon, President Obama spoke about the miners in the White House Rose Garden, noting the "joy of people everywhere" at the news of each successful rescue.
"This rescue is a tribute not only to the determination of the rescue workers and the Chilean government but also of the Chilean people, who have inspired the world," Obama said. "I want to express the hopes of the American people that the miners who are still trapped underground will be returned home safely as soon as possible
ABC News Diana Alvear, Lee Ferran, Michael S. James and Leezel Tanglao contributed to this report, as did The Associated Press and Reuters.