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, shortly after 0900 GMT Sunday.

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.