Pele thanked supporters in his homeland for their concern after he was discharged from hospital on Thursday.
The 72-year-old underwent hip replacement surgery at the Albert Einstein Hospital in Sao Paulo and was allowed home following the completion of a successful procedure, before expressing his thanks to the general public.
"I never imagined that the Brazilian people had so much concern for me," he told Folha de Sao Paulo.
Pele left hospital in a wheelchair and will need the assistance of a cane in the coming days while the incision heals. He has also been advised to take a rest from physical activity for the next few months.