LOS ANGELES (CNN) — Katherine Jackson, the 82 year old matriarch of the Jackson family, arrived home in Calabasas, California, with a police escort early Thursday, according to a source close to the family.
She had left the home she had shared with Michael Jackson's children on July 15 and had not contacted them before Tuesday from Arizona.
On Wednesday, a judge appointed TJ Jackson, 34, son of Tito Jackson, as temporary guardian of the children.
Katherine Jackson said she was crushed that another family member had been appointed as temporary guardian in her absence.
"I am devastated that while I've been away ... my grandchildren have been taken away from me, and I'm coming home to see about that," Jackson said in a statement she read to ABC News, surrounded by her children Rebbie, Jermaine and Janet. The network was not allowed to ask her any questions.
At a hearing Wednesday, Jackson's attorney Sandra Ribera told Los Angeles County Superior Court Judge Mitchell Beckloff that there was reason to believe Jackson had been held against her will.
Immediately after the hearing, however, another attorney for Jackson, Perry Sanders, said he had been told by Randy Jackson that his mother was on her way back to California.
Sanders, who later spoke to his client as she was being driven home, said he will file a petition to restore her as custodian as soon as he meets with her. Katherine Jackson was unaware of the controversy swirling around her family for the past week, he said.
Beckloff suspended Katherine Jackson as custodian for Prince, Paris and Prince Michael II, known as Blanket, because she may be "prevented from acting as a guardian because of the acts of third parties."
He also ordered "that the children not be removed from California without a court order, by any person."
In her statement, Katherine Jackson disputed the judge's findings.
"I am here today to let everybody know that I am fine and I am here with my children, and my children would never do a thing to me like that, holding me against my will. It's very stupid for people to think that," she said.
The judge also ordered that singer Diana Ross, whom Michael Jackson named as backup guardian in his will, and Debbie Rowe, the biological mother of the two oldest children, be given notice of the order.
The order will be reconsidered at a hearing next month, and the judge left open the possibility that custody could be returned sooner if Katherine Jackson returned home.
CNN's Ed Payne and Kareen Wynter contributed to this report.