State television showed images of Chavez chatting with his vice president and other aides after arriving at Caracas' international airport early Thursday.
Chavez traveled to Cuba on April 14 for radiation therapy treatment. He said earlier this week that he expects to return to Havana soon to undergo more treatments.
The Venezuelan leader began radiation treatment in Cuba in late March after an operation in February that he says removed a second tumor from his pelvic region. The first tumor was taken out in an operation last June.