The 94-year-old appeared slightly gaunt and showing little expression in brief images captured at his Johannesburg home by South Africa's state broadcaster SABC.
Wearing flamboyant black and white patterned shirt, Mandela was sat in a beige armchair with his legs up and covered with a white blanket.
He was flanked by President Jacob Zuma, who visited along with a delegation from the ruling ANC today.
They were the first public images of Mandela since then US secretary of state Hilary Clinton visited in August.
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"They found president Mandela in good shape and in good spirits," the party said in a statement.
Zuma and the top brass of the African National Congress dropped in on the ailing Nobel Peace Prize winner at his home, where he has been recuperating under high-care since his hospital release earlier this month.
Mandela returned home on April 6 after spending 10 days in hospital being treated for a recurrent lung infection.
The ANC visitors were briefed by Mandela's medical team and "are satisfied that president Mandela is in good health and is receiving the very best medical care".