Mubarak had been cleared for release earlier this month after a top court finally acquitted him of involvement in protester deaths during the 2011 revolt that ousted him.
"Yes, he is now in his home in Heliopolis," Mubarak's lawyer, Farid El Deeb told Reuters when asked if Mubarak had left the hospital. Heliopolis is an upscale neighbourhood where the main presidential palace from which Mubarak once governed is located.
The 88-year-old was cleared of the final murder charges against him this month, after facing trial in a litany of cases ranging from corruption to the killing of protesters whose 18-day revolt stunned the world and ended his 30-year autocratic rule.