Mandela, 95, had been hospitalized in Pretoria since June 8 with a lung infection and other complications.
President Jacob Zuma's office Sunday released a statement saying: "During his stay in hospital from the 8th of June 2013, the condition of our former president vacillated between serious to critical and at times unstable. Despite the difficulties imposed by his various illnesses, he, as always, displays immense grace and fortitude."
He will continue to recover at his home, CNN reported.
"Madiba's condition remains critical and is at times unstable," the office said, referring to the revered leader's clan name. "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."
Mandela served 27 years in prison for fighting to end apartheid in South Africa. He went on to become the country's first black president in 1994, four years after he was freed from prison.