The 90-year-old Indian-origin leader suffered a stroke on April 14 following which he was admitted to the Singapore General Hospital.
Nathan, who served two six-year terms from 1999 to 2011, was discharged from the hospital last Saturday.
"He is back to normal and simply needs more rest. He will do so at home," the Straits Times quoted a source close to the 90-year old Nathan as saying.
Nathan was the sixth and longest-serving President in Singapore. He served in the public service for five decades in many positions including social worker, trade union activist and diplomat.
He was succeeded by President Tony.