This is how Optimus Prime and Princess Twilight Sparkle return goes in episode 3 of season 2 of Ryan F-Freeman's Adventures of Transformers: Prime.
Megatron: Come, Arcee and Rainbow Dash. So that I might end the lineage of the Primes and Princesses for all time.
Orion Pax: We cannot allow that to happen, Megatron.
Megatron: And why should you care, Orion Pax and Nightfall Twinkle? You are no Prime or Princess.
Orion Pax: That may be true. Or yet another deception?
Nightfall Twinkle: But this much we do know: Our sympathies lie with the Autobots and Ponies and you are not one of us.
Megatron: Your spark and heart may be at the right places, Orion and Nightfall. But you have much to learn before you can hope to ever again stand your ground against me. A moment, sadly, which shall never come.
Orion Pax: Are you certain we're worthy?
Nightfall Twinkle: Are you sure?
Rainbow Dash: You have no idea.
Megatron: How nice of you to join our tender reunion. Now, if you please the Matrix and the Alicorn magic?!
[Megatron turns his head to see Orion Pax and Nightfall Twinkle regaining their memories as Optimus Prime and Princess Twilight Sparkle.]
Optimus Prime: Megatron... Be gone!
Twilight Sparkle: Rust in peace in Tartarus!
[Bumblebee, Rarity, Ratchet, Pinkie Pie, Bulkhead, Applejack, Arcee, Rainbow Dash, Fluttershy, Starlight Glimmer, Trixie, Princess Celestia, Princess Luna, and Princess Cadance watch in amazement as Optimus Prime and Princess Twilight beat Megatron.]
Optimus Prime: Ratchet! How did we arrive here?
Twilight Sparkle: Princess Celestia.
Ratchet: It's kind of a long story.
Princess Celestia: Twilight!
[Twilight and Princess Celestia hug]
Twilight Sparkle: I'm glad to be back.
Princess Celestia: I'm glad you're back too.
[Autobot Groundbridge opens up]
Arcee: It's ours let's go.
[Arcee and Rainbow Dash enter the Groundbridge]
Bulkhead: This time they're coming with us.
[Everyone enters the Groundbridge and it closes, leaving Megatron to scream in outrage.]
[Everyone returns to Autobot Outpost Omega One and see Optimus Prime and Princess Twilight enter]
Raf Esquivel: Optimus?
Starlight Glimmer: Twilight?
Optimus Prime: Hello my young friends.
Twilight Sparkle: Hey, girls.
Rainbow Dash: They remember us.
[Optimus and Twilight look at their Decepticon insignias replacing Optimus' Autobot insignia and Twilight's cutie mark.]
Optimus Prime: What?
Twilight Sparkle: How did we get these?
[Optimus and Twilight look at each other]
Optimus Prime: It seems there's much we don't remember.
Twilight Sparkle: Yeah.