Nelson Mandela endured 27 years in prison before becoming South Africa's first president from 1994 to 1999.
Johannesburg (CNN) -- Nelson Mandela has been discharged from the Pretoria hospital where he had been receiving treatment since June, the South African president's office said Sunday.
He will continue his recovery at home.
"Madiba's condition remains critical and is at times unstable," President Jacob Zuma's office said, referring to the revered leader's clan name. "Nevertheless, his team of doctors are convinced that he will receive the same level of intensive care at his Houghton home that he received in Pretoria."
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Mandela, 95, was hospitalized June 8 because of a lung infection. He marked his July birthday at the Pretoria hospital where he has been surrounded by relatives.
"During his stay in hospital from the 8th of June 2013, the condition of our former President vacillated between serious to critical and at times unstable," the office said. "Despite the difficulties imposed by his various illnesses, he, as always, displays immense grace and fortitude."
There was some confusion Saturday when two sources close to Mandela said he had returned home -- only to be contradicted by the president's office, which said he was still hospitalized.
"The family mistakenly thought Mandela had been taken to his Johannesburg home early Saturday morning," the source then told CNN.
Why Nelson Mandela has six names
The frail icon has not appeared in public for years, but he retains his popularity as the father of democracy and emblem of the nation's fight against apartheid.
Mandela became an international figure while enduring 27 years in prison for fighting against apartheid, the country's system of racial segregation.
He became the nation's first black president in 1994, four years after he was freed from prison.
Mandela's impact extends far beyond South African borders. After he left office, he mediated conflicts in Africa and the Middle East.
His history of lung problems dates to his imprisonment on Robben Island, and he has battled respiratory infections since then.
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Mandela became president of the African National Congress Youth League in 1951.
Mandela poses for a photo, circa 1950.
Mandela poses in boxing gloves in 1952.
Mandela in the office of Mandela & Tambo, a law practice set up in Johannesburg by Mandela and Oliver Tambo to provide free or affordable legal representation to black South Africans.
From left: Patrick Molaoa, Robert Resha and Mandela walk to the courtroom for their treason trial in Johannesburg.
Mandela married his second wife, social worker Winnie Madikizela, in 1958. At the time, he was an active member of the African National Congress and had begun his lifelong commitment to ending segregation in South Africa.
Nelson and Winnie Mandela raise their fists to salute a cheering crowd upon his 1990 release from Victor Verster Prison. He was still as upright and proud, he would say, as the day he walked into prison 27 years before.
A jubilant South African holds up a newspaper announcing Mandela's release from prison at an ANC rally in Soweto on February 11, 1990. Two days later, more than 100,000 people attended a rally celebrating his release from jail.
Mandela and Zambian President Kenneth Kaunda arrive at an ANC rally on March 3, 1990, in Lusaka, Zambia. Mandela was elected president of the ANC the next year.
After his release in 1990, Mandela embarked on a world tour, meeting U.S. President George H.W. Bush at the White House in June.
At his Soweto home on July 18, 1990, Mandela blows out the candles on his 72nd birthday cake. It was the first birthday he celebrated as a free man since the 1960s.
Mandela and his wife react to supporters during a visit to Brazil at the governor's palace in Rio De Janeiro, on August 1, 1991.
South African President Frederik de Klerk, right, and Mandela shared a Nobel Peace Prize in 1993 for their work to secure a peaceful transition from apartheid rule.
Mandela votes for the first time in his life on March 26, 1994.
On April 27, 1994, a long line of people snake toward a polling station in the black township of Soweto outside of Johannesburg in the nation's first all-race elections.
Mandela in Mmabatho for an election rally on March 15, 1994.
Mandela was elected president in the first open election in South African history on April 29, 1994. He's pictured here taking the oath at his inauguration in May, becoming the nation's first black president.
Mandela, left, cheers as Springbok Rugby captain Francois Pienaar holds the Webb Ellis trophy high after winning the World Cup Rugby Championship in Johannesburg on June 24, 1995.
After one term as president, Mandela stepped down. Thabo Mvuyelwa Mbeki, at right, was sworn in as his replacement in June 1999.
Mandela sits outside his former prison cell on Robben Island on November 28, 2003, ahead of his AIDS benefit concert at Green Point Stadium in Cape Town. He was sent to the infamous prison five miles off the coast of South Africa, where he spent 18 of his 27 years behind bars.
Mandela shows something to a group of international journalists visiting the Nelson Mandela Foundation in Johannesburg in May 2004.
Mandela sits with his wife, Graca Machel, and his grandchildren at his son's funeral on January 15, 2005. He disclosed that his son, Makgatho Lewanika Mandela, had died of AIDS and said the disease should be given publicity so people would stop viewing it as extraordinary.
The "46664 Arctic" benefit concert was held in Tromso, Norway, on June 11, 2005. 46664 was Mandela's identification number in prison. Here, artists who performed at the event surround him.
Mandela attends an HIV/AIDs concert in Johannesburg on February 17, 2005.
Former U.S. President Bill Clinton leans down to whisper to former South African President Nelson Mandela during a visit to the Nelson Mandela Foundation on July 19, 2007, in Johannesburg.
A bronze statue of Mandela was unveiled in Parliament Square in London on August 29, 2007. The 9-foot statue faces the Houses of Parliament.
Mandela leaves the InterContinental Hotel after a photoshoot with celebrity photographer Terry O'Neil on June 26, 2008, in London.
Mandela meets in 2009 with international children as part of his 46664 Foundation.
Nelson Mandela and his third wife, Graca Machel, arrive at the 2010 World Cup before the final match between Netherlands and Spain on July 11, 2010, at Soccer City Stadium in Soweto.
Then-U.S. Secretary of State Hillary Clinton meets with Mandela at his home in Qunu, South Africa, on August 6, 2012.
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