Lupe De Leon says James was released Thursday afternoon, just a few days after the terminally ill singer's condition improved enough for her to be removed from a breathing machine.
The "At Last" singer is battling leukemia and had been hospitalized since before Christmas with breathing problems. She is also suffering from dementia, and has been receiving mostly at-home care.
The 73-year-old is with her husband and other family members, the manager said.
The Associated Press contributed to this report.