Here is a witness account:

MAITRE GUILLAUME MANCHON, Canon of the Collegiate Church of Notre Dame d'Audely; Curé of the Parish of Church of Sainte-Nicolas-le-Peinteur at Rouen, and Notary of the Ecclesiastical Court; Notary of the Trial of Joan, from the beginning up to the end, and with him Maître Guillaume Colles, called Bois-Guillaume.

...I saw Joan led to the scaffold; and there were seven or eight hundred soldiers around her, bearing swords and staves; so that no one was so bold as to speak to her except Brother Martin Ladvenu and Maître Jean Massieu.

Patiently did she hear the sermon right through---afterwards she repeated her thanksgiving, prayers, and lamentations most notably and devoutly, in such manner that the judges, Prelates, and all present were provoked to much weeping, seeing her make these pitiful regrets and sad complaints. Never did I weep more for anything that happened to me; and, for a month afterwards, I could not feel at peace. For which reason, with a part of the money I had for my services I bought a little Missal, so that I might have it and might pray for her. In regard to final repentance, I never saw greater signs of a Christian.

Taken from the trial records at: http://www.indiana.edu/~dmdhist/joantrials.html

The above should be read in light of the fact that this testimony was taken almost 20 years after her death under a process that was set up to clear her name. I wonder how his testimony would have sounded under a process set up two months after her death to prove the trial was done correctly and reached a true conclusion. Although she sounds fully repentant above, Manchon also said that she never renounced her revelations, but maintained them up until the end.