The anti-apartheid icon has been discharged from a Johannesburg hospital after being treated for an acute respiratory infection South African officials said today.
The 92-year-old former South African president was airlifted to the hospital early Wednesday, after developing a persistent cough while vacationing with his wife.
Doctors said Mandela underwent several specialized medical tests while he was in the hospital.
"Given the history of his health over the last few years and his age, these tests are necessary to provide optimal health care to him," Surgeon General V.J. Ramlakan said at news conference today.
Ramlakan said there was "no need to panic" over Mandela's health.
He said the tests are normal for a person of his age and profile and is currently in stable condition and is being monitored closely.
Mandela will be released to his family to receive home-based care, officials said at the news conference.
A stream of family members, including wife, Graca Machel, and his ex-wife, Winnie Mandela have been by Mandela's side since his hospitalization.
Global leaders from President Obama to Desmond Tutu have been reaching out to the apartheid-era icon.
"We thank God for you, and you have seen it all," Tutu said. "We say God's will be done."
Crowds of journalists and well-wishers have converged outside the hospital, where police had to be called in to control traffic.
Thousands of concerned people around the world were sending their best wishes by Twitter and Facebook.
Mandela has not been seen in public since igniting the crowds at the world cup finals in South Africa last July.
Since then, he's reportedly grown increasingly frail and is under regular supervision from doctors.
Doctors said today that Mandela is not as mobile as before and had to be assisted with movement.
"I'm sure check-ups are more frequent than when he was a healthy young man," said South African President Jacob Zuma.
Mandela survived 27 years in prison and led the country to the dismantling of the South Africa's racist and apartheid system.