In a statement issued by the Presidency, the doctors said Mandela had made steady progress clinically and was continuing to improve.
“He continues to receive high care at his Houghton home and his daily routine is being gradually re-established.”
Mandela, 94, has a history of lung problems dating back to when he contracted tuberculosis as a political prisoner.
He spent most of December in hospital, and has been receiving treatment at his Johannesburg home after being discharged on December 26.
President Jacob Zuma has extended good wishes to Madiba on his recovery and once again assured him of the love and support of all South Africans.