It was the third time in the past four months that the Nobel Peace Prize laureate had stayed in hospital.
President Jacob Zuma and ANC Deputy President Cyril Ramaphosa were among senior ANC officials who called in on Mr Mandela at his home in Houghton and were given an update by his medical team.
“After receiving a briefing from the medical team, the national officials are satisfied that President Mandela is in good health and is receiving the very best medical care,” the ANC said in a statement.
President Zuma said Mr Mandela “shook hands and even smiled”.
The rare video footage from his home was broadcast by South African state broadcaster SABC.
The BBC’s Milton Nkosi in Johannesburg says there has been an outcry on social media – especially Twitter, where the topic is trending – about the broadcast of the video.
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Many see it as exploitative and an invasion of the former president’s privacy, our correspondent adds.
