BuaNews, a South African government agency, said Mandela, 92, was flown to the Eastern Cape village from Johannesburg Sunday.
"We are pleased that he is now well enough to travel," Zuma said.
Mandela was reportedly in good spirits and happy, and he made his first public appearance last week since being hospitalized.
Zuma thanked the public for respecting Mandela's privacy and asked people to continue to do so.
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