The 68-year-old entered his home covered by a blanket to avoid being photographed and was accompanied by LAPD officers. Simmons entered the hospital Monday and returned home on Thursday.
"After a few days of battling severe indigestion and discomfort while eating, we agreed it was best for him to seek treatment," Simmons' rep said in a statement to ABC News earlier this week. "He's already feeling better and is expected to make a full recovery."
On Wednesday, a post appeared on Simmons' Facebook page that was purportedly written by the fitness star, although the photo accompanying the post was three years old.
"Hello to everyone who has shown concern for me and sent their good wishes. You will never know how much it means to me," the post read. "Aren’t you sick of hearing and reading about me?! LOL Well by now you know that I’m not 'missing,' just a little under the weather. I’m sure I will be feeling good and back home in a couple of days."
"Just knowing you care has already made me feel better. Hope to see you again soon!"
[H/T Twitter / @PEOPLE]