"I am asking you, Joseph Jenkins, turn yourself in to the appropriate authorities so we can end this episode of our lives," Pierson said. "We love you, and we thank you."
Walker took the bus back to Orlando upon his release, according to his family's attorney, Rhonda Peterson. He spent a week with his family, going out in public and even attending church on Sunday, she said.
Walker's mother, Lillie Danzy, fought back tears as she begged her son to stop evading officials.
"We love you. We believe in you. We want you to surrender yourself to someone you trust who will bring you back in safely," she said. "I know who you are, you know who you are. I just want you home safely soon. Please come home."
Jenkins' victim was Roscoe Pugh, whose family was shocked by the news that Jenkins was released.
"It's very scary," Pugh's widow, Crystal Pugh, "If he doesn't come after my family, it's possible he will kill someone else."
Evagelina Kearse said she was fearful that her son's killer was on the loose.
"Concerned for my safety? Yes I am, because he knows where I live," she said of Walker. "He wound down the window and emptied a 9 millimeter in my son."
The judge whose name is on the forged documents is Belvin Perry, Orange County chief judge, who presided over the Casey Anthony case. The judge's signature was forged in the paperwork calling for reduced sentences for the convicted killers.
Perry told ABC News he believes the killers had help outside the prison.
"They cut and pasted my signature and affixed it to the order," he said. "They had to have outside help, because in one of those documents, it was actually filed here in the courthouse."