The 94-year-old was discharged from a medical facility in Pretoria on Wednesday evening.
He was admitted to hospital on 8 December for a recurring lung infection; he also underwent a procedure to remove gallstones last week.
Presidency spokesman Mac Maharaj said the public and the media’s respect was noteworthy.
“We request a continuation of the privacy consideration in order to allow for the best possible conditions for full recovery.”
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Social networks were abuzz with messages of well wishes for the Nobel Peace Prize laureate, as he continues his recovery process.
Many said they were praying or thinking of him at this time.
At the same time, President Jacob Zuma on Tuesday encouraged South Africans to continue praying for Madiba, after he spent Christmas with the former president and his family…
Read More: Katlego Mogase, ewn.co.za