HMS Pembroke was returning from a mission in the Middle East ensuring safe passage for merchant and civilian vessels. It was manned by seven different crews during the near four-year operation.
For many of the sailors, it was the first time they had seen their families since they left in January.
Mr Jack, who was also welcomed home by his wife Alison, 38, stepson Jack, 10, and nine-year-old daughter Holly, said: "She (Eilidh) was six weeks old when I left, so I was just feeding her her first bottle the night before we went away.
"It was really hard. It's the first time I've had to do it - to go away and leave a little one. She's huge now.
"We just need to hand the ship over and we'll be off on leave. I can't wait, I've got nine weeks off so she'll get used to me hopefully by then."