His return marks the latest recall of North Korean diplomats following the execution of Jang Song Thaek, Kim Jong Un's uncle.
Pak, who has been the ambassador since September 2012, was a close aide to Jang, Yonhap reported.
North Korean officials escorted Pak and his wife back to the country.
International powers are concerned Kim is attempting to gain more power following the execution of Jang, who was Kim's right-hand man.
Earlier this month, Jang Yong Chol, a nephew of Jang Song Thaek, was recalled from his position as the ambassador to Malaysia.
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