How was the Cuban missiles crisis resolved?

The Cuban Missile Crisis was resolved after US President John F. Kennedy and Soviet Chairman Nikita Kruschev reached an agreement that if the US promised to remove their ICBMs (missiles) from Turkey and to never invade Cuba again, the USSR would agree to remove its missiles from Cuba.

It is a possibility that the Soviet Union was taking a chance on the "safety" of Cuba, as time would remove both men from office.