Sudanese President Omar al-Bashir has arrived home in Khartoum from Johannesburg, an AFP correspondent said, after a court ordered him not to leave as it decided whether to arrest him over alleged war crimes.
Mr Bashir - who is wanted by the International Criminal Court for alleged war crimes, crimes against humanity and genocide in the Darfur region - was returning from an African Union summit.
Dressed in his traditional white robes, a triumphant Mr Bashir waved his trademark cane in the air as he stepped off the plane and shouted: "God is greatest!".
Walking down a red carpet leading from the aircraft, he was greeted by his ministers on the tarmac, as well as a crowd of journalists and photographers.
After his arrival, Foreign Minister Ibrahim Ghandour gave a short news conference, brushing aside Mr Bashir's near-brush with international justice at the summit.
"What was being circulated was propaganda, and his participation confirms the president is one of Africa's leaders", he said.
Mr Bashir will continue to attend international summits "as normal", Mr Ghandour added.
After the conference, Mr Bashir drove around outside the airport in an open-topped car, waving his cane amid a crowd of around 1,000 supporters.
The crowds beat drums, sang traditional songs and waved Sudanese flags, chanting: "With our blood and our souls, we sacrifice for you Bashir!"
After about 10 minutes he was driven away.
Mr Bashir, 71, was indicted over his alleged role in the Darfur conflict.
African rebels in the western region launched an insurgency against Mr Bashir's Arab-dominated government in 2003, complaining they were being marginalised.
The United Nations says 300,000 people have died in the conflict since, and another 2.5m forced to flee their homes.
Sudan claims 10,000 people have been killed in the region since 2003.
South African judges hearing an application to force the government to arrest Mr Bashir said they were "concerned" state officials had not complied with the court's previous order to keep him in the country.
"It is of concern to us that an order of this court was issued ... to ensure the presence of Al Bashir in this country (and) has not been complied with," said Judge Dunstan Mlambo.
The ICC's chief deputy prosecutor has said the failure to arrest Mr Bashir was "disappointing", adding "South Africa had an obligation to arrest him".
The United States has also expressed disappointment over the series of events that led to Mr Bashir's return to Sudan.
State Department spokesman Jeffrey Rathke did not explicitly say that the United States regretted South Africa's failure to arrest Mr Bashir.
A summit of African leaders in Johannesburg has been overshadowed by the ICC call for Mr Bashir to be detained on long-standing arrest warrants over his actions during the Darfur conflict.
Yesterday, Judge Hans Fabricius ordered authorities to stop Mr Bashir from leaving the country, pending a decision on whether it should order his arrest.
The court was due to reconvene today.