WASHINGTON - The only American soldier held prisoner in Afghanistan has been freed from Taliban captivity in exchange for the release of five Afghan detainees from the US prison at Guantanamo Bay, Cuba, Obama administration officials said Saturday.

Sgt. Bowe Bergdahl was handed over to US special forces by the Taliban Saturday evening, local time, in an area of eastern Afghanistan, near the Pakistan border. Officials said the exchange was not violent and the 28-year-old Bergdahl was in good condition and able to walk.

In a statement, President Barack Obama said Bergdahl's recovery "is a reminder of America's unwavering commitment to leave no man or woman in uniform behind on the battlefield.''

The handover followed indirect negotiations between the US and the Taliban, with the government of Qatar serving as the go-between. Qatar is taking custody of the five Afghan detainees that had been held at Guantanamo Bay.

According to a senior defense official traveling with Defense Secretary Chuck Hagel in Singapore, once Bergdahl climbed onto the noisy helicopter he took a pen and wrote on a paper plate, the letters "SF?'' - asking the troops if they were special operations forces.

They shouted back at him over the roar of the rotors: "Yes, we've been looking for you for a long time.''

Then, according to the official, Bergdahl broke down and cried.

Bergdahl, of Hailey, Idaho, is believed to have been held by the Haqqani network since June 30, 2009. Haqqani operates in the Afghanistan-Pakistan border region and has been one of the deadliest threats to US troops in the war. The network, which the State Department designated as a foreign terrorist organization in 2012, claims allegiance to the Afghan Taliban, yet operates with some degree of autonomy.

Officials said Bergdahl was expected to be transferred to Bagram Air Field, the main US base in Afghanistan, for medical evaluations, then on to the United States.

Several dozen US special operations forces flew into Afghanistan by helicopter and made the transfer with the approximately 18 Taliban members. The official said the commandos were on the ground for a short time before lifting off with Bergdahl.

The official added that the US still believes that Bergdahl was being held for the bulk of the time in Pakistan, but it was not clear when he was transported to eastern Afghanistan.

All the officials insisted on anonymity in order to discuss details of Bergdahl's transfer.

Officials said Obama spoke with Bergdahl's parents Saturday, shortly after their son had been taken into US custody. Bergdahl's family was in Washington on a previously scheduled visit when they received the news.

The parents of the freed soldier, Bob and Jani Bergdahl, said in a statement that they were "joyful and relieved.''

"We cannot wait to wrap our arms around our only son,'' they said.

The US has long been seeking Bergdahl's release, but efforts have intensified as Obama finalized plans to pull nearly all American forces out of Afghanistan by the end of 2016.

Officials said the Taliban signaled to the US in November that they were ready to start new talks on the issue of detainees. After the US received proof that Bergdahl was still alive, indirect talks began, with Qatar sending messages back and forth between the two parties.

The talks intensified about a week ago, officials said, resulting in Bergdahl's release and the transfer of the Afghan detainees.

The five Guantanamo detainees were still at the base as of Saturday morning, but were being transferred into the custody of Qatari officials. Under the conditions of their release, the detainees will be banned from traveling outside of Qatar for at least one year.

Obama and the emir of Qatar spoke last week about the conditions of the release, which have been codified in a memorandum of understanding between the two countries, officials said.

The detainees are believed to be the most senior Afghans still held at the prison. They are believed to be:

Abdul Haq Wasiq, who served as the Taliban deputy minister of intelligence

Mullah Norullah Nori, a senior Taliban commander in the northern city of Mazar-e-Sharif when the Taliban fought US forces in late 2001

Khairullah Khairkhwa, who served in various Taliban positions including interior minister and had direct ties to Taliban leader Mullah Omar and Osama bin Laden

Mohammed Nabi, who served as chief of security for the Taliban in Qalat, Afghanistan, and later worked as a radio operator for the Taliban's communications office in Kabul

Mohammad Fazl, whom Human Rights Watch says could be prosecuted for war crimes for presiding over the mass killing of Shiite Muslims in Afghanistan in 2000 and 2001 as the Taliban sought to consolidate their control over the country.

Taliban and Afghan officials could not be reached for comment. In Pakistan, Foreign Ministry spokeswoman Tasnim Aslam said her government was "not aware of'' Bergdahl's release or the negotiations leading up to it. She declined to comment further.

The circumstances surrounding Bergdahl's capture remain something of a mystery. There has been some speculation that he willingly walked away from his unit, raising the question of whether he could be charged with being absent without leave (AWOL) or desertion.

Baldor reported from Singapore. Associated Press writers Rahim Faiez in Kabul, Afghanistan, and Zarar Khan in Islamabad contributed to this report.