"Former President Nelson Mandela has this afternoon returned to his Johannesburg home following a successful medical examination at a Pretoria hospital," South African presidential spokesman Mac Maharaj said.
"The doctors have completed the tests. He is well and as before, his health remains under the management of the medical team," he said.
The 94-year-old leader was admitted to hospital yesterday, less than three months after being treated for a lung infection and gallstones.
Authorities, however, did not give details about his health even as the hospitalisation of the iconic leader sparked concern.
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Mandela spent 18 days in hospital in December for treatment of a recurrent lung infection and surgery to extract gallstones. It was his longest stint in hospital since his release from prison in 1990.
His health has been a cause of concern for many years.
The Nobel Peace Prize laureate served as South Africa's first black president from 1994 to 1999 and is widely regarded as the father of the nation for leading the struggle against apartheid and for democracy.
Mandela has been admitted to hospital on three occasions in the past two years. In January, 2011, he was treated for a chest infection in Johannesburg.
The former president has been rarely seen in public since retiring from public life in 2004.