He shook hands with a couple of cellmates as he left, then went to the bail counter where he provided the other prisoner's full name and date of birth.
He signed a property receipt and was given the man's bag containing $300 worth of personal items, before being released. He was free for 16 days before being caught.
Judge Jocelyn Munro declined a bail application by defence lawyer Peter Birks and remanded Thompson in custody for sentencing on October 22.
Senior Sergeant Bill Fisher told the Rotorua Daily Post new processes had been implemented as a result of Thompson's escape.
He said the arrest photo of each remand prisoner was now sent to the court cells along with their paperwork, so it could be checked before anyone was released.
Staff also now had smart devices where they could access a colour photo of each prisoner, he said.
Mr Fisher said incidents like this were "fairly rare" but had happened in other courts. However he was confident in the new procedure. "It shouldn't happen in the future."