Johannesburg - Former president Nelson Mandela was discharged from Milpark Hospital in Johannesburg on Friday, his grandson said.

He left the hospital in an ambulance, and live television footage showed a convoy of official vehicles surrounding the ambulance as it drove to his Houghton home.

"My grandfather has been discharged and we as a family will make the necessary arrangements for him to go back to his home in Houghton," Mandla Mandela earlier told a media briefing at the hospital.

There was no "anxiety" among the family over the international icon's health, he said.

"We have always given support to him as a family.

"We have always enjoyed his sense of humour.... He continues to display that sense of humour."

No need to panic

Mandela is "well", said Acting President Kgalema Motlanthe.

"Madiba is well... and that should reassure all of us. There is no need to panic... to fear for his health," Motlanthe said.

The former president was admitted to hospital on Wednesday.

Mandela recently developed an acute respiratory infection, said SA National Defence Force Surgeon General Vejaynand Ramlakan.

"He received treatment and has responded very well.... He is stable, but will be monitored closely."

Motlanthe said Mandela was receiving the best treatment from health professionals.

"From now on we will keep you posted," he said, adding that the situation could have "been handled differently".

He was referring to the news blackout on Mandela's condition.

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By Staff reporter and agencies