A man who was asleep was "kicked awake" and his partner taken to another room, where she was made to kneel and kiss the boots of an offender at gunpoint.
"She thought that she was going to be killed," Ms Kelly said.
In sentencing, Judge Davidson said Howes had afterwards spoken to others questioning the need to raise the aggravated robbery "to the level that it had been". Howes had been "badly beaten" as a result of that conversation, said the judge. "I've seen the photos and the assault on you was substantial."
Lawyer Jock Blathwayt said Howes was not directly involved in the acts of violence and had showed remorse, having since moved to a new town and away from the gangs.
Judge Davidson said the robbery "must have been absolutely frightening" for the victims, who reported it had affected their sleep and sense of security in their home.
The judge said he believed the offence was "far more serious than (Howes) anticipated".
"You obviously have insight into the effects of your actions, and you hope one day to give back to society by counselling youth at risk."
Howes' actions demonstrated he was "sick and tired of gang life and the misery that it inflicts on people".
Howes' co-accused, Ngahina Matiaha, 23, and Paul Anthony Thompson, 22, have denied the charge.
They and one other man have also been charged with wounding Howes with intent to injure him.
