Pistorius, known as the "Blade Runner" for his carbon-fibre prosthetic legs, became eligible for parole in March 2023 after he had served half of his 13 years and five months sentence for murder.
He was granted parole on November 24, to take effect on January 5.
South Africa's (SA) Department of Correctional Services (DCS) said in November that Pistorius will complete the remainder of his sentence in the country's community corrections system.
He will be under the supervision of the DCS and will be subjected to parole conditions until his sentence expires in December 2029.
He will be assigned a monitoring official, who will have to be kept informed when Pistorius is seeking job opportunities or moving homes.
As part of the conditions, Pistorius will also have to attend programmes on gender-based violence and continue therapy sessions on anger management, a lawyer for the Steenkamp family said shortly after he was granted parole.
He is expected to live in Pretoria.
Pistorius was moved to a prison closer to where the Steenkamp family stayed in late 2021, ahead of reconciliation talks aimed at a potential early release from prison.
He and the late Barry Steenkamp, Reeva's father, participated in the victim-offender dialogue on June 22, 2022.
The Steenkamp's family lawyer said in November that they were not surprised by the parole decision, issued after Pistorius had completed a set portion of his sentence.
In the run-up to the parole hearing, Reeva Steenkamp's mother June released a statement saying she was not convinced Pistorius had been rehabilitated. However, she said she had no objections to his release.
After Pistorius was granted parole, Steenkamp lauded the parole board's efforts in involving the victims.
Pistorius' lawyer and family did not comment.
--Reuters--