The first steps the astronauts took from the orbiter were into the Crew Hatch Access Vehicle, where they were given a brief medical examination.
Mission commander Eileen Collins was the first astronaut to leave the access vehicle and walk onto the runway. The group took a walk around Discovery to see how their ship fared during its 14-day mission.
"We brought Discovery back in great shape," Collins said after the walk-around, CNN reported.
The 5:11 a.m. PDT landing marking the end of the 14-day mission occurred one day behind schedule because of unacceptable weather conditions Monday and early Tuesday over the preferred landing site in Florida,
It was the 50th shuttle landing at Edwards.
Mission control in Houston marked the event by simply declaring, "Discovery is home."
The flight was the first for the space shuttle program since the 2003 break up on re-entry of space shuttle Columbia and the resulting death of its seven-member crew.
Moore to attend retreat in to avoid Kutcher's wedding
'How to Train Your Dragon 2' releases 5-minute clip