UTICA, N.Y. (WKTV) - Steven Barnes' mother and sister cried when his shackles hit the courtroom floor. Oneida County Court Judge Michael Dwyer vacated Barnes' conviction and sentence. He cited a joint motion on behalf of the District Attorney's office and the Innocence Project.

The not-for-profit revisits convictions using advances in DNA technology. The new DNA testing initiated by the Innocence Project excluded Barnes as the person who sexually assaulted Kimberly Simon in 1985.

Barnes celebrated his new freedom with a courtroom full of family and friends. He talked about all he's missed, living the past 20 years of his life in a small prison cell.

Steven Barnes' life had been put on hold, suspended, for 2 decades. He hasn't eaten with a fork in 20 years. He's never used a cell phone, surfed the internet, he never even heard of 'Caller I.D.'

A lot changed in the past 20 years while Steven Barnes sat in a tiny prison cell. One thing that didn't change, his childhood friendships. Several of his buddies were in court today, to welcome him back to the outside world. While Barnes talked about all he missed while in prison for a crime he didn't commit, his friends gave him unwavering support. That's something that has not changed in the past 20 years.

"A little overwhelmed, you know, happiest day of my life, I waited for this for 20 years," Barnes said.

"We knew he didn't do it and you pray to god long enough i guess good things will happen," said friend Ed Lewandrowski.

His first stop was a big steak lunch with family, friends and his Project Innocence attorneys, including Barry Scheck, who rose to international fame after successfully defending O.J. Simpson on charges he murdered his wife. Scheck co-founded the Innocence Project.

Steven Barnes says he was very overwhelmed today and often at a loss for words. Under state law he can sue the state for damages in a court of claims. He says that's not even on his radar yet.