If you are reasonably firm at riding one-handed, you can drive them home by riding one of them while pushing/pulling the other one beside you with one hand.
Let's assume that the bike you will ride is called A and the one you push/pull is B.
First decide, which bike is better to be ridden and therefore will be your bike A and which hand is better to get freed to steer bike B. Which hand is better will depend on if you will need to change gears and how your brakes are arranged on the handle bars. Then lean bike B somewhere, e.g. to a tree or wall – putting it on its stand is not so good as it might get complicated to get the stand folded in later. Also make sure to lean it on with the correct side, depending on your choice of which hand you want to use to steer it. Finally mount bike A and place yourself on the bike beside B.
Now grab either the stem or the center of the handlebar (where it is held by the stem) of bike B, such that you have some steering control over the handlebar if you twist your wrist.
The most complicated part in this is starting as you will have some wobbly moments on the start and you have to take care not to interfere with the handlebars of both bikes. Having drop bars (as in your case) will make things a bit easier in terms of interference as they are not that wide and it is easier to keep both bikes separated. Also you have to take care to not lean onto the wrong bike, as putting your weight on bike B will make it go somewhere more or less unpredictable and you're quite likely to crash. So only put your weight onto bike A's handle bar.
Once you have the whole train running, this arrangement is quite fine (albeit a bit clumsy) as long as you don't have to cope with too much traffic (which is given in your case). However, 5 miles is some piece to ride this way so expect to be somewhat slower than normal and plan to do some pauses on your way as you won't have a very relaxed riding position.