He was checked over by doctors, then took the chance to shower and shave and put fresh clothes on before he spoke to media at the hospital.
He spoke with emotion as he told how much he was hurting after not finishing his journey, which was his second attempt after pulling out two days into the crossing last year.
"Gutted"
"I didn't hit the finish line and that irks me deeply and that will irk me for a long, long time," he said.
"I didn't want to go home."
Mr Donaldson said he felt gutted when he saw the helicopter arrive to pluck him from his kayak, which he described as "wearing thin" following the "nastiest night" of the journey.
"I was 36 or 34 miles short and that really gets me," he said.
He said the decision to call off his mission was not made based on emotions.
"It wasn't hard to make the call."
He said if he had gone through the bad weather forecast for tonight he would have risked losing communications.
Mrs Donaldson said she was very relieved to have her husband home and was proud of him.
"He is so strong and determined and that sense of character is priceless."
He was making the trip to raise awareness for Asthma NZ, an illness both he and his 4-year-old son, Zac, suffer from.
He is also hoping to highlight the importance of increasing aerobic activity levels in our day to day lives.
Click for video
Relief
Friend Jamie Campbell, who was coached by Donaldson to complete a double Ironman triathlon and eight laps of Lake Taupo in the Lake Taupo Cycle Challenge Extreme Enduro, said he was relieved to hear he was okay but was "devastated" at Donaldson not completing his crossing.
"It's a huge mission he's endured," he said.
"I'm pleased to hear he's alive and well. Knowing Scott he's considered it very carefully and come to the right decision. It's very sad."
Rotorua Daily Post chief photographer Stephen Parker was at Taranaki Base Hospital when Donaldson landed and said he was able to walk to a waiting ambulance.
"His wife walked over and she was visibly pleased to see him," Mr Parker said.
He said a bearded Donaldson was still in his life jacket and wet weather gear. He was walking with no obvious limp.
"He walked about 5m to a waiting ambulance, which took him to the hospital. There was a smile on his wife's face."
Donaldson left Coffs Harbour in New South Wales on April 19. He spent a week on Lord Howe Island for repairs and spent another week kayaking in a big circle due to high winds.
Video courtesy of Helicopter Services (BOP) Ltd.
- additional reporting Sophie Ryan and Laura Maxwell of APNZ
