After 32 years of separation, a Florissant mother is reunited with her son, just in time for Mother's Day.

Andrew Wilson was released from a Los Angeles jail in March. LA County prosecutors rules that his original trial on charges of robbery and murder, was not a fair one. Now, he says his mom has waited long enough. And that he's here in St. Louis to stay.

"Oh you can only imagine," said Margie Davis, Wilson’s mother, when asked how it feels to be reunited with her son.

Mother and son sat arm in arm after 3 long decades apart.

"It's great to be home and she's plenty of fun, she keeps me going," said Andrew Wilson. Wilson arrived home on Wednesday and says he’s committed to making up for lost time.

“It’s getting warm outside, so I can clean up the hedges around the house and do little things that need to be done while I was gone,” he said.

For years, Wilson’s mother, now 96-year-old Davis, sent a letter to California lawmakers and judges, insisting that her son was innocent.

"She gave me 32 years of her time and I need to give her my time now," Wilson said.

The Loyola Law School Innocence Project raised concerns about Wilson’s original case. And on March 16, Wilson emerged a free man.

“It's two victories: I’m home and the truth came to the light."

Now, back in his hometown, Wilson says he’s looking forward to getting back to work and back into his routine.

“Get his life back on track like he was,” said Davis “...I'll get it back, I'll get it back," reassured Wilson.

Wilson says he only wishes this day could have come sooner.

"I don't dwell on it, it's what I can do now for it, that's all I can do."