Pretoria — Former President Nelson Mandela, who was discharged from Milpark hospital on Friday, is in "good spirits" and resting at home, a statement released by the Presidency said on Saturday.

Acting President Kgalema Motlanthe visited Mandela at home where he was reportedly doing well.

"At the conclusion of the visit, Mr Motlanthe said President Mandela was doing very well, in good spirits and resting. Mr Mandela told Acting President Motlanthe that he was pleased to be back at home and spending quality time with his loved ones," said the statement.

He was discharged after spending two-and-a-half days at the Milpark Hospital for treatment for an acute respiratory infection. Madiba's respiratory problems date back to when he was on Robben Island where he suffered from Tuberculosis. The elder statesman will now receive home-based care.

Motlanthe urged the public to remain calm adding that Mandela was receiving the best medical care possible under the supervision of the South African National Defence Force Surgeon General Vejaynand Ramlakan.

"Government will ensure that the public is kept informed about the progress Mr Mandela was making," added the statement.