Marrocco is taking anti-rejection medication, which can lead to side effects like infection and organ damage.
While Marrocco is doing well, his recovery will be long and risky, the doctor said.
On Tuesday Mr Marrocco said he was looking forward to returning to driving and swimming after the transplant.
Four other soldiers have lost all four limbs and survived since Mr Marrocco.
Marrocco will participate in a anti-rejection regimen study that's being funded by the Armed Forces Institute of Regenerative Medicine.
Lee hopes the new anti-rejection regimen performed on Marrocco will become the new standard of care for limb and face transplants.
The last thing Marrocco remembers before being hit by an explosion in 2009 was that he was driving an armored vehicle.
When he woke up at Walter Reed Medical Center in Washington, Marrocco was alive, but missing all four of his limbs.
His surgeon says it will take more than a year to know how fully Mr Marrocco will be able to use the new arms.
Marrocco is one of only seven people in the country to successfully undergo the surgery, and the first quadruple-amputee soldier, according to Johns Hopkins.
Brendan Marrocco, 26, was injured by a roadside bomb in 2009.
"When it happened, I didn't remember too much, " Marrocco said.
Mr Marrocco had been living in a specially outfitted home in Staten Island, but it was heavily damaged as the cyclone Sandy hit the New York City borough last year.
"I just want to get the most out of these arms, and just as goals come up, knock them down and take it absolutely as far as I can, " Mr Marrocco said on Tuesday.
While he continues physical therapy at Johns Hopkins and later at Walter Reed National Military Medical Center, doctors are giving Mr Marrocco a good prognosis on the ultimate ability to use his new hands.
"Our lives have been on hold for the last almost four years waiting for this surgery, getting him through Walter Reed and getting to the point where he was pretty independent, " said mother Michelle Marrocco.
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