Roi Harel, who was lightly wounded by terrorists who broke into his home in the Binyamin region town of Eli, was released on Wednesday evening from the Shaare Tzedek Hospital in Jerusalem.
The two terrorists who carried out the attack, both 17-year-olds from a nearby Palestinian Arab village, were killed by security forces shortly afterwards.
Earlier on Wednesday, Harel described the attack from his hospital bed.
"I went to leave the house, to put things in the car, and two terrorists were standing at my door, youths, they looked around 15 or 16, dressed in dark clothes with wooden clubs in their hands," he told Army Radio.
"They jumped on me with the clubs and succeeded in entering the home."
Harel described how the terrorists nearly made it all the way to the bedrooms where his wife and five children were.
"After several minutes I succeeded in pushing them out as they were hitting me. I succeeded in pushing them, and closing the door," he said.
"After the security forces arrived and we opened the door, we saw that a knife of around 20 centimeters was stuck in the door. That apparently was the plan for afterwards."
After the terrorists gave up on his home they tried to attack the soldiers and were shot dead.
"We need to remember that it isn't just me in a war for my home, we all are together in the war for our home," said Harel.