After successfully completing the boom stability tests, the spacewalkers are returned to the payload bay to hop off the boom, put away their tools and then climb hand over hand back to the airlock to end the 7-hour, 31-minute EVA.
Source: NASA TV (5 min 57 sec QuickTime 6 file)
Download this clip to your hardrive.
(Windows users right-click this link. Mac users control-click this link)