The 79-year-old civil rights icon and his wife, Jacqueline Jackson, were both hospitalized last month after testing positive for the virus.
According to CNN, Rev. Jackson was treated at the Shirley Ryan AbilityLab after being released from Northwestern Memorial Hospital earlier this month. Rev. Jackson received physical therapy after his hospital stay due to his Parkinson's disease, according to a statement released by the Rainbow PUSH Coalition, his organization.
"Thank God for leading the way to get me again to walk again on my own power, talking," Rev. Jackson said outside of the facility after his release, per ABC 7 Chicago.
"The shot took me from death," he added, urging people to get vaccinated. "I never had a breathing issue, respiration. It couldn't take over me."
"Both my parents are ever so thankful for all of the prayers, cards, and calls they have received during this very trying period of their lives," their son Jonathan Jackson said in a statement.
"We know it is a miracle that both of our parents are COVID-19 survivors, and we thank God for his healing. We also pray for the millions of people who have been infected with this virus and pray they too will also overcome," he added.
Rev. Jackson publicly received his first dose of the vaccine in January. Breakthrough infections, especially among immunocompromised and elderly people, have been reported amid the surge of the highly transmissible Delta variant.