But the government's repatriation effort had a shaky start as some of the 200 families due to return on Monday sought last-minute reassurances.
Some said they were concerned about receiving promised financial aid, while others cited security fears.
The army reopened roads into the troubled district after an offensive to drive out Taliban militants there.
The government has said its priority is to return those living in temporary camps.
The UN has stressed that the return of those displaced must be voluntary.
'Really uncertain'
Some 200 families housed in camps in the Nowshera district were set to return on Monday at the start of the repatriation effort.
By the middle of the day, some reports said that fewer than 50 families had left although it was thought that more left later.
The BBC's David Loyn in Islamabad said that in one camp, there was a blockade of displaced people protesting that they had not received the identification cards they needed to secure food and cash to help them rebuild their homes.
Other people said they were wary of returning home until the security situation was clear.
Government officials expect people to move in larger numbers in the coming days, especially as the word goes out that the trip is safe, our correspondent says.
On Tuesday, 800 families are due to be sent back to Swat, officials say.
Some witnesses in the area told the BBC that people were keen to return home because of the extreme heat they had to endure in the temporary camps, but they also spoke of their concerns.
"I'm going back home voluntarily and nobody forced me to leave," 50-year-old Shireenzada told the AFP news agency.
"But I'm really uncertain and don't know if peace has actually returned to my area."
Felipe Camargo, of the UN High Commission for Refugees, said some areas were now "considered clear and safe" for return - but said it was vital that displaced people were informed about the situation there.
"We have signed an agreement with the government... of North West Frontier Province to ensure that the willingness of the voluntary return is maintained and that people are well informed about what the conditions are in the areas of return," he told the BBC.
He said the US and World Food Programme would provide food aid to the returning families.
The first batch of returnees are from the Landakai-Barikot sector of the main road leading into the city of Mingora. This was one of the districts worst affected by fighting between the military and the Taliban.
Reports from that district say there has been no fighting for nearly three weeks despite frequent curfews and house searches by the army.
The return is being overseen by the substantial military presence established in the Swat, Malakand and Buner regions after Taliban militants were dislodged.
The information minister for North West Frontier Province told the BBC's Urdu service that the displaced could carry their tents with them in case they returned home to find their homes damaged.
"The police and army contingents have been deployed on all important points along the way to provide security to convoys," Mian Iftikhar Hussain said.
Once people have been moved from the camps, the army will begin returning people who have been living in schools and other places since they fled the fighting.
Much of the infrastructure in the Swat region was severely damaged in the months of fighting.
Power and water supplies have been shattered and the reconstruction is expected to take many months.
A resident of the town of Sultanwas, in Buner province, told the Associated Press that if the government failed to provide for people's needs, "no-one will stand against militant extremism in the future".
"In this war we lost and gave everything, saw our village destroyed," said Muhamed Shereen.
"So now the people of Sultanwas look to the government and the whole country and world to come forward and help us."
The BBC's Syed Shoaib Hasan, who recently visited Swat's main town, Mingora, said the town was largely intact, with markets and residential areas still standing.
But the security situation remains uncertain and supplies are critically low, he says.
Did you leave the Swat valley due to the earlier fighting? Are you planning to return soon? Send us your comments and experiences using the form below.
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