The couple held hostage by Somali pirates for more than a year are planning to finish their round-the-world sailing trip.
Rachel and Paul Chandler said they had the support of family and friends who raised half a million pounds of ransom money for them.
They were kidnapped in October 2009 and held separately for more than a year.
Mr Chandler said those around them had been "wonderful".
"They want us to get our lives back, and life for us at the moment is travelling and sailing," he told BBC Radio Five Live.
"I think they are relaxed about it, I don't think they would be very positive if we were to be captured again, but we had bad luck, we were in the wrong place at the wrong time, and the chances of it happening again are incredibly small."
Mrs Chandler said: "From day one our close family and friends were very keen that we should get back to normal, they were very worried that would be permanently scarred by what had happened to us, and I think it was reassuring to them that, having found out that we had our boat back, that the Navy had brought our boat back for us, for them to know that we did actually want to restore it, and get back to cruising to get our lives back again, was reassuring to them."
The couple spent 388 days in captivity after armed raiders boarded their 38ft yacht, Lynn Rival, as they sailed from the Seychelles to Tanzania in notoriously dangerous waters. They were beaten by their captors when they refused to be separated.
The retired pair, from Tunbridge Wells in Kent, were released in November 2010 after a ransom was paid.
Last year they told BBC Breakfast their boat was their home and they intended to keep travelling.
Mr Chandler said: "We decided some years ago that (the boat) was our home for as long as we were fit enough to maintain that lifestyle. It's what we do."
Asked if they were worried the ordeal could be repeated, Mrs Chandler said: "If you have an adventurous spirit, there are always risks.
"Independent travellers always face risks. And you can't think about it.
"We love to travel, we love to sail, we love to go to different places and meet different people - that's what we are. If we didn't do that, we would be defeated by this and we are determined to carry on."
Mr Chandler said the majority of the kidnappers were "misguided youths".