The 95-year-old had been in hospital since June after being admitted with a recurring lung infection.
Ahead of his arrival, Mr Mandela's home was adapted to allow him to receive intensive care there.
Speaking to Africa Correspondent Rohit Kachroo, Winnie said doctors have done a "brilliant job" in turning his home into a hospital.
"There isn't any machine that is not available there. So if there's any emergency they will be able to treat him at home".
The former anti-apartheid leader's condition is said to remain "critical and at times unstable".
Zindzi said returning to a environment with familiar voices, full of the smells of his favourite dishes wafting up from the kitchen, would be "enriching for his soul".
She also spoke of her hope that "we'll be able to sit around the dinner table with him once more and have lunch..supper....and just enjoy each other's space not necessarily in a room that's full of equipment".
On Saturday, there was confusion as early media reports incorrectly suggested Nelson Mandela had returned home from hospital as later clarified by the South African Presidency.
Zindzi "confessed" that she "contributed to some of the confusion" after misinterpreting a message sent from the hospital.
She explained that she did not realise her father's discharge was still in process when she updated her Blackberry Messenger status with a picture of him "and a huge welcome home along with a heart and a smile".
"It was just a day early so let's just say I was a prophet!", she joked.