Nelson Mandela has spent his first night back home after being discharged from hospital but the South African government said the anti-apartheid hero remains critically ill and under intensive care.
The former president had been in a Pretoria hospital for almost three months, spending his 95th birthday there as he received intensive treatment for a respiratory illness.
The presidency said in a statement that he "remains critical and is at times unstable" and will be looked after by the same team of intensive care doctors at his Johannesburg home.
"If there are health conditions that warrant another admission to hospital in future, this will be done," the presidency said.
An ambulance with police escort was seen arriving at his suburban home, north of Johannesburg, on Sunday morning.
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Mandela's family expressed joy at his return.
"It is a day of celebration for us that he is finally back home with us," said grandson Mandla Mandela, thanking South Africans and people around the world for their outpouring of support.
The ruling African National Congress (ANC) expressed faith in the medical team treating Mandela, saying they believe that "receiving treatment at home will afford him continuous support from his family and loved ones".
For 86 days South Africans have scrutinised every update about the health of their first black president, whether he was living or dying with each sign of progress or each setback.
Separated by deep racial and economic divisions, millions have united in praying for a speedy recovery of a man who for many embodies the best their nation can be.
There are still lingering concerns about the health of an elderly man who has been in and out of hospital four times in the last year.
But for now, most people were content to focus on a bit of good news.
Ordinary South Africans breathed a sigh of relief at the news of Mandela's return.
"The old man is a fighter, I knew that he was going to pull through," said Steven Moloto from Pretoria.
"Mandela is like a symbol of peace in this country. I was very worried when he was in hospital," he added.
