Pope Francis on Sunday gave a blessing to a crowd gathered under a balcony at Rome's Gemelli hospital in his first public outing in over five weeks.
He was hospitalized on February 14 after breathing problems developed into a severe respiratory infection.
The 88-year-old head of the Catholic Church waved from the balcony and gave a thumbs up.
"Thank you, everyone," Francis said into a microphone, sounding frail as he sat in a wheelchair.
Chants of "Viva il papa!" and "Papa Francesco" erupted from the crowd.
He was released from the hospital after greeting the crowd.
He was seen waving from the closed window of a car, wearing a device that delivers oxygen through the nostrils.
Before returning home to the Vatican, security guards told the AP news agency that Francis would head St. Mary Major basilica to pray. The Rome basilica is home to his favorite icon of the Madonna.
Two-month recovery time expected
On Saturday, the pope's doctors it would still take "a lot of time" for him to recover. The medical team has recommended a two-month period of rest and convalescence at the Vatican.
At one point, Francis was in critical condition with double pneumonia.
He already had chronic lung disease and had part of one lung removed as a young man.