The hospitality worker and the mother of three children, plus six North Islanders, started their gruelling journey for "Ride Out of the Blue" in Bluff on October 13.
Filled with excitement and anticipation during the final 20km of hilly terrain, they arrived at the cape's car park for the walkway to the lighthouse and signpost on Friday at 5.30pm.
They were accompanied by Hugh Rouse, a Queenstown resident who cycled one leg from Garston to Wanaka, then decided to continue north with the group.
A kaumatua led a powhiri to greet the riders to the cape, which touched their hearts, Miss Percival said.
"The last 5km, there were some huge hills and we were all absolutely running on empty, but we just had to get there, so we came round the corner and we got welcomed on properly, which was just amazing.
"Everyone dropped the bikes and started crying and hugging."
Speaking from Auckland yesterday, Miss Percival said she was quite glad the epic ride was over, but she was sad at the same time.
"We had a blessing for half an hour, then we all rode down that little track to the lighthouse for probably an hour's worth of photos and thinking about all the people we did it for and all the stories we've heard from people as we've travelled up the country," she said.
"We've met lots of people who have lost loved ones to suicide, so we kind of carried everybody up there with us and then we stood at the lighthouse, we let everybody go."
Although her own bicycle from H&J's Outdoor World withstood the test without mechanical failure, other cyclists had to contend with frequent punctures and chains falling off.
Everyone braved 100km of cold, torrential rain on the West Coast and gales so strong one rider was blown from her saddle.
Heavier traffic in the North Island forced the cyclists to ride in single-file, which cut down conversation for hours at a time.
"This journey was a real massive personal test for myself for something most people would've given up on, and there were lots of points when you could have easily gone, 'I'm not doing this anymore'," Miss Percival said.
"Also, my partner who I lost was a big driving force and I wanted to do it in his memory."
Mrs Kennedy said she coped well physically, to her surprise, thanks to months of training.
"The highlight for me was this amazing group of people. We're all from different places, but we all meshed together really well and then the people you meet along the way as well," she said.
The team and support crew raised money and promoted positive mental health messages on the road.
Their motivation for cycling the length of New Zealand started conversations about mental health and many people they met had some connection with depression.
"Random strangers told us their experiences and I think that's a good thing because on the whole people are quite silent about suicide and they were really encouraged by what we were doing," Mrs Kennedy said.
"It gave them hope other people knew about their situations and that's why we were riding."
The total amount raised was expected to be known this week, once raffles, auctions and online appeals were calculated.
Miss Percival and Mrs Kennedy are due back in Queenstown today.
