He uses the MAV from Ares IV to get into orbit, then the crew of the Hermes are able to 'collect' him

He is able to use the Chinese 'rocket' Taiyang Shen (Sun God) that the C.N.S.A. were going to use on their mission to Mars

N.A.S.A. are able to send the Ares IV ahead of schedule and he uses the MAV to return to Earth

He does not get off Mars

Mark is able to build his own 'spacecraft' from parts of the Hab and Rover