The 27-year-old prop, nicknamed 'The Beast', had to withdraw from last weekend's Test against Ireland in Dublin as he was hospitalised after experiencing mild heart palpitations.
The 41-cap loosehead was sent home from the tour on Monday and underwent a minor procedure at a Cape Town hospital on Wednesday, before being released on Friday.
It is the second time this year Mtawarira has undergone the procedure for his hereditary condition.
"I am well, so there is really no need to worry," said Mtawarira in a statement.
"The procedure went well. It's only a minor procedure and sometimes it needs to be done more than once to clear the palpitations. This is something that has happened to me before and that can be treated. Also, it's not career-threatening.
"Sometimes I get quite excited before a game and that is probably what triggered it. I am at peace with everything because I know God has a great plan for my life. I have prayed about it with my family and trust the Lord for a full recovery.
"It's sad to miss out on the last two Tests of the season, but I've enjoyed a good year and am looking forward to 2013 very much.
"There are obviously positives to come out of this as well, one of which is that my little girl was very happy to have me home a bit earlier than expected.
"To all my fans, the medical staff that helped and everyone who passed on good wishes - thank you for the support and love."
South Africa face Scotland in the second Test of their tour at Murrayfield on Saturday afternoon.