Prosecutors read out formal charges against Mandla Mandela, 39, accusing him of assault with the intent to do grievous bodily harm as well as with pointing his gun, according to state broadcaster SABC.
The charges followed a quarrel when another driver reportedly bumped into the car of one of Mandela's business associates in Mthatha, in the south of the country.
The man then pressed charges with the police.
Mandela appeared briefly in court in the city today, but his lawyer Kenny Oldwage asked for a postponement, because the defence had only received the police file in the morning.
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Oldwage declined to comment when contacted by AFP.
The case will resume on February 24.
Controversy has closely followed the younger Mandela, who had charges of grave-tampering and bigamy against him dropped last year.
Last July a court ordered him to return the remains of his grandfather's three deceased children, whose graves he had moved without the family's permission.
Mandla then launched a televised tirade against his relatives, whom he accused of trying to grow rich from the Mandela name. He also said his brother had impregnated his wife.