"I'm figuring things out right now-which is exciting, awkward, fun, and all new for me", she added.
Manning, who was arrested in 2010, filed a transgender rights lawsuit in prison and attempted suicide twice previous year, according to her lawyers.
Manning's 35-year sentence was commuted by President Obama, who concluded that seven years in federal custody was enough for her crimes.
Earlier this week Manning released a statement saying that she now can imagine a future as Chelsea. She said her plans include moving to Maryland, and growing out her hair, which was kept shorn in prison.
While most mundane activities - such as eating pizza and drinking Dom Pérignon - don't usually grab national attention, Manning was finally able to take part in what she's been missing out on since entering Fort Leavenworth military prison in Kansas seven years ago. Manning originally comes from Crescent, Oklahoma.
President Obama's decision to commute her sentence drew criticism from leading Republicans, including Senator John McCain, who called it a "a grave mistake". She also is still legally entitled to military medical care and commissary privileges, according to the Army.
"It is incredible to witness Chelsea Manning's freedom after having seen and worked with her behind bars for four years", Manning support network member and ACLU staff attorney Chase Strangio said. A GoFundMe crowdfunding campaign, created in February of this year, raised $157,681 for Manning upon release.
March 13, 2011: Manning is held in solitary confinement 23 hours a day, stripped naked each night and given a suicide-proof smock to wear to bed.
She remained housed at Fort Leavenworth, an all-male Army prison, despite her request to transfer to a civilian women's prison.
Journalist Glenn Greenwald, who is friends with Manning and also played a role in publishing leaks from famous whistleblower Edward Snowden, tells the BBC that Manning will likely face a number of challenges now that she's out of prison. Shortly after, she announced that she was a transgender woman and began going by her new name.
"As I rebuild my life, I remind myself not to relive the past", the statement said.
Labelled a traitor by right-wing President Donald Trump, she has gained the support of celebrities and is seen by many Americans as a courageous rights activist who was handed an unfair sentence for revealing civilian deaths caused by U.S. bombings in Iraq and Afghanistan.
Manning remains on active duty status pending the conclusion of her appeals. Critics, meanwhile, said she put U.S. lives and operations at risk as an attention-getting antic. That includes time spent in prison during her trial and after she received her sentence.
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