Prisoner exchange also includes five Iranians released by the US, and $6bn in Iranian assets unfrozen.
A plane carrying five American prisoners released by Iran as part of a high-profile prisoner exchange has landed in the Qatari capital Doha, before the former detainees are expected to then fly on to the United States.
Two of the five Iranians imprisoned by the US have already arrived in Qatar, before they transit on to Iran. The three other released Iranians have decided against returning to Iran, with two staying in the US, and one going on to a third country.
The agreement between the US and Iran has also seen $6bn in Iranian assets held in South Korea unfrozen, triggering the prisoner exchange.
This is a breaking news story, more to follow.