"They found president Mandela in good shape and in good spirits," the party said in a statement.
Zuma and the top brass of the African National Congress dropped in on the ailing 94-year-old at his Johannesburg home, where he has been recuperating under high-care since his hospital release earlier this month.
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The ANC visitors were briefed by Mandela's medical team and "are satisfied that president Mandela is in good health and is receiving the very best medical care".
The ANC said Mandela was "keenly aware of the goodwill that has been outpouring from the peoples of the globe as befitting his status as our icon".
"The African National Congress thanks all South Africans and the international community for keeping president Mandela in their thoughts and prayers," it added.
Public broadcaster SABC said it will screen footage of the ANC visit on its television news broadcasts later today.
Mandela's latest hospitalisation was his third since December.
South Africa's first black president was admitted for a night for a scheduled check-up in March and in December he was hospitalised for 18 days for a lung infection and gallstones surgery.
That stint was his longest since he walked free from 27 years in jail in 1990.
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