The showbiz patriarch was rushed to the Albert Einstein Hospital in Sao Paulo on July 26 after suffering a stroke and three heart attacks while on a trip to Brazil, but has now recovered and was discharged from the facility, reported New York Post.
The 87-year-old retired music manager is now resting at an apartment in the city and is expected to return to the United States on Saturday accompanied by his daughter Janet and son Jermaine who jetted out to be by his bedside.
The first positive signs of progress came over the weekend when the former The Jackson 5 manager has been "regaining his motor skills and starting to walk with assistance".
Following the incident almost a fortnight ago, Joe's publicist said that his heart had stopped beating for 10 seconds and he had a pacemaker inserted at the facility in Sao Paulo.