Kumar was discharged eight days after being admitted for kidney-related ailments.
Taking to Twitter, Haasan wrote, "Welcome back home Dilip Kumar Saheb. One among your millions of fans in the South of India."
Kumar, 94, was admitted to the city-based Lilavati Hospital in suburban Bandra.
Kumar's wife and actor Saira Banu had also thanked fans and doctors for their support and well wishes.
"My gratitude to fans, friends for prayers, doctors for expert treatment, hospital staff and Sahab's personal attendants for all the care. It is the Almighty God's will and benevolence that I wish to acknowledge in all humility and gratitude," she wrote on the actor's official Twitter page.
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