The Brazilian football legend's health had left the soccer-mad nation on tenterhooks since his admission to the clinic just over a fortnight ago.
But the 74-year-old icon of Brazilian football's golden age assured his compatriots that while he had given a fright by the health scare he had always been confident of recovering.
"I wasn't afraid of dying as I am a man with three hearts," the three-time World Cup-winner joked, alluding to his birthplace, Tres Coracoes, which means "three hearts" in Portuguese.
"I am preparing for the Olympics! Three professionals can play in the Olympics. I'm one of the three!"
More From This Section
Thanking his medical team, Pele, who earlier in November underwent kidney stone treatment at the same clinic before returning 10 days later after complaining of abdominal pain, admitted he had had a "fright" at first after he was briefly placed in intensive care.
"It was a real fright. We were at the Pele museum in Santos when I caught an infection and couldn't attend an autograph signing session.
"I was very touched to receive messages from China, Pakistan, countries across Europe. I didn't know so many people were keeping abreast of my situation.
"And of course I especially thank Brazilians for always supporting me. It's good to know that as well as God's help I have the support of so many people around the world," he told a news conference at the Albert Einstein hospital.
The star was hospitalized on November 24 with a suspected urinary tract infection requiring antibiotics.
Some Brazilian media reported Pele had septicemia, a blood infection, after he initially failed to respond to treatment.
But the clinic stopped renal assistance three days later and moved Pele to semi-intensive care after extensive tests.
Pele's doctor, Dr. Fabio Nasri, told reporters bacteria had caused inflammation, prompting the precautionary move into intensive care, adding he had remained conscious throughout.
Dr. Nasri indicated Pele "will now undergo a period of rehabilitation and have to take things easily for ten days. Then there will be physiotherapy before he undergoes fresh tests.