However, he remains in a critical condition, said the statement from President Jacob Zuma's office.
Mr Mandela was admitted to a private hospital in the capital, Pretoria, on 8 June with a recurring lung infection.
Revered as the father of the nation, he celebrated his 95th birthday in hospital last week.
Mr Zuma visited Mr Mandela on Monday and assured him of "the love and support of all South Africans", the statement said.
