In a tweet announcing the move, Trump wrote, "Don't be afraid of Covid."
President Donald Trump's condition is continuing to improve as he fights a coronavirus infection, doctors said, and he left Walter Reed Medical Center on Monday evening, landing at the White House shortly before 7 p.m.
Doctors also reported that Trump, over the course of exhibiting coronavirus symptoms, had earlier experienced two episodes of "transient drops" in his oxygen saturation.
Yet the president was feeling well enough Sunday evening to briefly leave Walter Reed for a surprise drive-by, waving to supporters outside the hospital.
Administration member Judd Deere subsequently put out a statement saying that, "President Trump took a short, last-minute motorcade ride to wave to his supporters outside and has now returned to the Presidential Suite inside Walter Reed."
Meanwhile, numerous questions remain about how many people at the highest levels of government had been exposed to the virus after a week of events involving the president where social distancing and mask-wearing were lax in the White House and elsewhere.
The White House issued an updated public schedule that said President Trump would depart the Walter Reed "emergency landing zone" at 6:30 p.m. and arrive on the White House South Lawn at 6:40 p.m.
Following the announcement that Trump is planning to leave Walter Reed Medical Center and return to the White House Monday evening, the Trump campaign has confirmed that the president still plans to attend the next presidential debate with Democratic nominee Joe Biden, despite his currently battling COVID-19.
"Yes. It is the president’s intention to debate," Trump campaign communications director Tim Murtaugh told ABC News Monday afternoon.
MORE: Biden campaign open to moving forward with debates
The debate is scheduled for Thursday, Oct. 15 in Miami -- two weeks from when the president first reported testing positive for the coronavirus.
Earlier on Monday at a briefing outside Walter Reed, the president's physician Dr. Sean Conley was asked about Trump's potential return to the campaign trail.
He said, “As far as travel goes, we will see.”
ABC News' Will Steakin contributed to this report.
The White House is preparing the Map Room and Diplomatic Reception Room as a remote working space for the president, a senior administration official told ABC News. These rooms are in the residence.
The news was first reported by Politico.
-ABC News' John Santucci
Dr. Conley, when questioned, told reporters that Trump had two episodes that required he receive oxygen treatment and "recovered immediately."
On Sunday Conley would only confirm there was one time where Trump needed oxygen but said he would need to check with the nurses assisting with the president's treatment.
"He wasn't short of breath, he wasn't looking ill. It was more of us trying to anticipate needs and see how he’d respond, and both cases he came right off. He didn't need it for very long at all," Conley said.
