Lim, a pastor with the Light Korean Presbyterian Church in Mississauga, Ont., was involved in humanitarian projects in North Korea.
There's no word yet on when exactly Lim arrives in Canada.
He added that getting the pastor home took on increased urgency in June, following the death of Otto Warmbier, an American student who died days after being released from a North Korean prison in a coma.
The pastor was considered his arrest as one of the most influential christian missionaries in North Korea.
Lim told the congregation that it was by the grace of God that he was freed.
It's possible the regime is being more cautious with Mr. Lim's health problems, Mr. Denney said.
Foreign Affairs Minister Chrystia Freeland said she is "deeply relieved" and "happy" that Lim has been released.
"I'm just so glad he is out of there".
The Canadian government has also thanked Sweden for its role in securing Lim's release, which comes as the United States and North Korea are engaged in a standoff after Pyongyang successfully tested two intercontinental ballistic missiles. Warmbier had been sentenced to 15 years of hard labor in March 2016 after being accused of stealing a propaganda poster.
However after Lim's return to the country, his family requested people to allow their privacy to be maintained.
Canada's foreign minister says North Korea's nuclear program poses a "grave threat" to the security of the world and called on the country to fall into line with the global community.
The Canadian government, in its travel advisory for North Korea, advises against all travel to the country "due to the uncertain security situation caused by North Korea's nuclear weapons development program and highly repressive regime". "The ability of Canadian officials to provide consular assistance in North Korea is extremely limited", it says.