A statement from the South African president's office said:
Former President Nelson Mandela has been discharged from hospital today, 6 April, following a sustained and gradual improvement in his general condition.
The former President will now receive home based high care.
President Zuma thanks the hard working medical team and hospital staff for looking after Madiba so efficiently.
He also extended his gratitude to all South Africans and friends of the Republic in Africa and around the world for support.
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Scotland Yard said the male youths will appear in custody at Westminster Magistrates' Court on Saturday.
Windy this weekend with gales across northwestern parts of the UK. Rain spreading southeast.
Greater Manchester Police said "inquiries are ongoing to fully understand the circumstances of the incident."