Pope Francis got out of a car and shook hands with military and police officers before it entered the Vatican gates.
Before returning to the Vatican, Francis stopped to pray at the Rome Basilica of Santa Maria Maggiore. Francis normally does this at the end of each foreign trip to give thanks to the Madonna.
Earlier, two cars escorted by Vatican security left Gemelli hospital via a side entrance shortly before 11.00 a.m. (0900 GMT) after staff had put a wheelchair in the trunk of one of the vehicles.
The first of the two cars had darkened windows.