Mandela discharged after treatment for respiratory infection
92-year-old former president left the hospital in the procession, which included an ambulance in the middle.
Doctors are pleased with his recovery and continue to receive treatment at home, "said VJ Ramlakan, the surgeon general.
"We can remember he suffered from tuberculosis and has had respiratory infections," said Ramlakan. "It is not as mobile as before. And in recent years have been helped by the movement. "
Ramlakan Mandela said the agreement "with all the difficulties of old age, standing."
Mandela was taken to a Johannesburg hospital Wednesday from Cape Town where he was vacationing.
Southern Africa, city officials urged calm, saying Mandela "suffers from problems common to the people of his age."
"Medically there is no reason to panic," said Kgalema Motlanthe, deputy president. "Mandela is suffering ... conditions that have developed over the years. We remember that he was suffering from tuberculosis while on Robben Island, and has had respiratory infections."
Mandela was imprisoned for decades on Robben Island, off the coast of Cape Town.
The former president rarely makes public appearances.
His last appearance was at the closing ceremonies of the World Cup in South Africa during the summer. He has just published a new memoir, "Conversations with myself."
The Nobel Peace has spent 27 years in prison after being convicted of sabotage and attempting to overthrow the government under the apartheid regime in South Africa of old.