Suspected Boko Haram militants drove into a village in the northeast state of Borno on Tuesday and opened fire on residents.
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Their release had been secured "through backchannel efforts and with the help of some friends of the country."
Authorities initially denied that the girls had been kidnapped, saying they were just hiding from the jihadis.
U.S. military presence in Africa is already huge and still growing.
2,300 suspected Boko Haram members get unprecedented mass trial
Most of the girls in Nigeria were under 15 years of age; one even had a baby strapped to her.
Eighty-three children have been used as “human bombs” in terror attacks in Nigeria this year, the United Nations Children’s Fund said Tuesday.
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