Madani had been staying at a private medical college hospital at Kollam with tight police security.
The People's Democratic Party leader, escorted by Karnataka police personnel, was brought here from Kollam and left by a Bangalore flight at 5.45 PM. A large number of slogan-shouting PDP workers greeted him at the airport.
Madani, who reached here on March 13, attended the wedding of his daughter the next day at Kottiyam near his home town Kollam.
Speaking on his plight in the Bangalore jail, he had said the 'ray of justice' still appeared to be far off in his case.
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BJP state unit had alleged that he misused the speech to criticise the judiciary, thereby violating the conditions of the bail granted to him.
While granting bail, the Bangalore court had restrained Madani from speaking to the media, which however covered his wedding speech in full.
On Monday, Madani met his ageing parents Abdul Samad and Asuma Beevi at an orphanage founded by him at his hometown Anwarssery in Kollam district.