The former president, whose doctors say has serious health issues, was filmed on Wednesday leaving the prison wearing a breathing tube and a mask. His children hugged him before he got into a car, which took him to the home of his eldest daughter and political heiress Keiko.

"Today we finally have our father home," Keiko said through a megaphone at the door of her home, where her father is now expected to reside. "There is no hatred or resentment in my heart, but gratitude."

As Fujimori left the prison, local TV footage showed a crowd of supporters cheering and pushing against his car as it tried to leave the prison's premises on the outskirts of Lima.

Fujimori was convicted in 2009 of ordering the massacre of 25 people in 1991 and 1992 while his government fought the Shining Path.