Zuma visited Mandela, 94, at the Mediclinic Heart Hospital, where he was admitted June 8 for a recurring lung infection, Eyewitness News, Johannesburg, South Africa, reported.
Also Thursday, Mandla Mandela said he has been targeted for airing controversial family matters, Eyewitness News reported.
During a news conference, he criticized some relatives after a harsh court battle over the exhumation of the anti-apartheid icon's deceased children so they could be moved to the family cemetery in Qunu.
"In the past few days, I have been the subject of attacks from all sorts of individuals wanting a few minutes of fame and media attention at my expense," Mandla Mandela said.
Officials said the remains were exhumed and positively identified.
"I am struggling ... to understand why the matter has become so urgent," Mandla Mandela said. "It has not been urgent in the past two years.
"My grandfather, like myself, would be highly disappointed in what is unraveling," he said.
Mandela's grandson moved the remains to his nearby homestead as part of a plan to open a heritage center dedicated to his grandfather. Family members objected and went to court to force Mandla Mandela to return the remains to the family plot.