Katherine Jackson, mother of pop icon Michael Jackson, has been reunited with her grandchildren after a court temporarily took her guardianship away due to her extended absence from the children.

In the days Katherine was missing, family members pleaded with the late singer's daughter, Paris Jackson, to help locate her grandmother.

Paris excitedly tweeted early Thursday: "grandma's here! #thankyougod." Katherine's son Marlon Jackson also shared his thoughts on her return via Twitter saying his mother had come back both looking and sounding great.

Upon Katherine's guardianship being taken away from her Wednesday, a judge ordered that her grandson Tito Joe "TJ" Jackson serve as a temporary caretaker of the children.

The ruling was made because Katherine left to Arizona and kept no contact with the children for several consecutive days.

Katherine told ABC News that the court's verdict was "based on a bunch of lies."

She added, "I am devastated that while I've been away, that my children, my grandchildren, have been taken away from me, and I'm coming home to see about that."