The 95-year-old was discharged on Sunday and will continue his recovery at his Johannesburg home.
The South African government has said his condition remains critical and can sometimes be unstable.
He would be readmitted to hospital should his condition warrant it.
"Madiba's condition remains critical and is at times unstable. Nevertheless, his team of doctors are convinced that he will receive the same level of intensive care at his Houghton home that he received in Pretoria," a statement by South Africa's Presidency said. "His home has been reconfigured to allow him to receive intensive care there. The health care personnel providing care at his home are the very same who provided care to him in hospital. If there are health conditions that warrant another admission to hospital in future, this will be done."
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