7 July 2013 Last updated at 07:38 ET 
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The BBC's Yolande Knell in Amman: "He was rushed very quickly to the state security court"
Radical cleric Abu Qatada has appeared in court in Jordan after being deported from the UK.
His plane left RAF Northolt at 02:46 BST for his home country, where he was formally charged with terror offences.
Prime Minister David Cameron said he was "delighted" that his removal had been achieved.
Abu Qatada was first arrested over alleged terror connections in 2001. He was rearrested in 2005, when attempts to deport him began.
The Palestinian-Jordanian cleric's deportation was finally able to proceed after the UK and Jordan signed a treaty agreeing that evidence obtained through torture would not be used against him.
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The BBC's Dominic Casciani describes the scene at RAF Northolt as the flight takes off
Home Secretary Theresa May said she was glad that the government's determination to remove him had been "vindicated".
"This dangerous man has now been removed from our shores to face the courts in his own country," she said.
She added that she wanted to streamline such deportation processes in future.
"I am also clear that we need to make sense of our human rights laws and remove the many layers of appeals available to foreign nationals we want to deport.
"We are taking steps - including through the new Immigration Bill - to put this right."
Abu Qatada was accompanied on the flight of around five hours by six people from Jordan, comprising three security officials, a psychologist, a medical examiner and his Jordanian lawyer, the BBC understands.
Continue reading the main story There was tight security as Abu Qatada arrived back in Jordan - where he grew up - for the first time in more than 20 years. He was immediately driven from Marka airbase to the state security court - a journey that would have taken just a few minutes.
While the cleric has become a household name in the UK, when I did an informal survey in Amman remarkably few people had heard of him. Some people who had thought he should not have been sent back here.
"I'm a Muslim but I don't like extremists. I wish he hadn't come," an old man said. "Why should the UK export its problems to us? He was resident in London for so many years, you should have tried him if he's guilty of anything," added another.
One woman believed Abu Qatada was misunderstood. She told me the preacher was "very good for Islam" and that "his followers will be very glad for him to be back."
The 53-year-old had been held at Belmarsh prison in south-east London, from where a convoy of three police vehicles left at midnight.
After arriving at Jordan's Marka military airport he was driven in a green SUV, escorted by a 12-car convoy, to the sealed off state security court in Amman.
His father Mahmoud, who was not admitted to the court building, told the AP news agency: "I have nothing to say, except my son is innocent and I hope the court will set him free."
Military prosecutors charged him the conspiracy to carry out terrorist acts - relating to a plot to bomb American and Israeli tourists during Jordan's millennium celebrations.
The cleric - who did not get to see his family - was remanded in custody and taken to eastern Jordan's Muwaqqar prison, a judicial official said.
BBC home affairs correspondent Dominic Casciani said Home Office officials were "incredibly relieved" after "one of the most tense weeks in the department's recent history".
"They were so concerned about the possibility that the cleric could change his mind at the last minute that they were leaving nothing to chance."
Speaking on BBC Breakfast later, Mrs May said she had been provided with updates on the deportation throughout the night.
She said she had been "as frustrated as the public" about the estimated £1.7m cost and length of time it had taken to remove Abu Qatada, but that people would welcome the end result.
She said she did not have any concerns about the treatment Abu Qatada would face when he arrived in Jordan.
She said: "The treaty we've signed ensures that there are proper processes of exchange of evidence and will insure the treatment of Abu Qatada and others deported to Jordan."
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Home Secretary Theresa May: "I was deeply frustrated how long it took"
Mrs May said she hoped to reduce the number of appeals open to people fighting to stay in the country and to look at Britain's relationship with the European Court of Human Rights.
She said "nothing is off the table" when it comes to negotiating with Europe.
Asked on Sky News whether Abu Qatada's wife and children would have the right to stay in the UK, Mrs May said they would have to decide what they want their future to be before the government gets involved.
Mr Cameron criticised a "caravan of lawyers" over the case, adding that it had "made my blood boil that this man who has no right to be in our country, who is a threat to our country and that it took so long and it was so difficult to deport him, but we've done it, he is back in Jordan that is excellent news."
Continue reading the main story At exactly 2.46 this morning, the battle to banish Abu Qatada ended with the roar of jet engines over north-west London, as his deportation flight left over our heads.
When it came finally to leave, there was no fuss. There was no last minute legal appeal, no hitch. Nobody had to call another crisis meeting at the Home Office. In fact, Abu Qatada looked relaxed and calm. He walked freely to the plane and boarded with British officials and the door was closed.
As the plane began to taxi, the preacher glanced out of the window towards the terminal building and that was it.
For Abu Qatada, this was the start of his uncertain journey home after 20 years in the UK. But the deportation was also an enormous victory for the British government. There has never been a legal battle like this - and no one in politics ever wants to have it again.
Abu Qatada, whose real name is Omar Othman, was granted asylum in the UK in 1994 but the Security Service came to view him as a threat as his views hardened.
Richard Reid, the would-be mid-Atlantic shoe bomber, and Zacarias Moussaoui, both jailed for involvement in terrorism, are said to have sought religious advice from him.
The cleric's sermons were also found in a flat in the German city of Hamburg used by some of those involved in 9/11.
He vowed to fight the UK's 2005 decision to deport him to Jordan to face retrial over bomb plot allegations - setting in motion an eight-year legal battle.
The dispute continued until May this year, when the cleric accepted that his right to a fair trial there was protected by the new treaty between Jordan and the UK.
Labour's shadow home secretary Yvette Cooper welcomed the deportation and backed Mrs May's call for a more streamlined process in future.
She said: "The home secretary has been right to get further guarantees from Jordan and we should welcome the series of agreements from the Jordanian government too.
"We must ensure that delays like this do not last for so long in future and that the system is reformed to make it faster."
Keith Vaz, chairman of Parliament's Home Affairs Select Committee, questioned why the government had not started work on a treaty with Jordan at an earlier stage in the process.
"The home secretary's legal advisers will have questions to answer as to why they didn't conceive of this scheme earlier which would have prevented a cost to the taxpayer of £1.7m."
Profile: Abu Qatada
The security problem Jordan doesn't need?
Abu Qatada case has cost UK £1.7m
