The 88-year-old Argentine pontiff will now take over two months to convalesce after a major scare that twice led doctors to fear for his life and which raised speculation that he might resign, rumours which aides have quashed.
Before returning to Casa Santa Marta, the pope appeared at his Gemelli room window to greet the faithful for the traditional Sunday Angelus.
He then stopped off at Santa Maria Maggiore and laid a bouquet of flowers in the Roman basilica.
In the Angelus text, the pope thanked his doctors and other medical staff, saying the care shown by them reflected the patience of God.
“During this long period of hospitalisation, I have had the opportunity to experience the patience of the Lord, which I also see reflected in the tireless care of doctors and healthcare workers, as well as in the care and hopes of the families of the sick,” the text said.
“This trusting patience, anchored in the love of God that never fails, is truly necessary in our lives, especially to face the most difficult and painful situations,” the pope added.
Francis thanked the faithful for their prayers for his health and said, “Let us pray also for peace.”
“With so much patience and perseverance you are continuing to pray for me: I thank you so much! I also pray for you,” he said.
“And together we implore an end to wars and for peace, especially in the tormented Ukraine, in Palestine, Israel, Lebanon, Myanmar, Sudan, Democratic Republic of Congo.
“May the Virgin Mary protect us and continue to accompany us on the journey towards Easter,” he concluded.
Francis expressed “pain” at the resumption of hostilities in Gaza.
“I was saddened by the resumption of heavy Israeli bombings on the Gaza Strip, with many dead and wounded,” he said.
“I ask that the weapons be silenced immediately and that we have the courage to resume dialogue, so that all the hostages may be freed and a definitive ceasefire may be reached.
“In the Strip, the humanitarian situation is once again very serious and requires the urgent commitment of the warring parties and the international community,” the pontiff added.
The faithful shouted “Francis! Francis!” when they saw him appear at the hospital window.
Italian Prime Minister Giorgia Meloni issued a statement saying she was happy that the pope was returning to the Vatican.
ANSA