There were no official updates on Monday on the condition of the 95-year-old leader of the anti-apartheid movement, who was taken to his home in an ambulance on Sunday.
In announcing Mr Mandela's discharge, the office of South African President Jacob Zuma said he remains in a critical and sometimes unstable condition.
A statement from Mr Zuma's office also said Mr Mandela will receive the same level of intensive care that he did in the hospital, administered by the same doctors.
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