Zuma’s motorcade drove up the cobbled-stoned street leading up to Parliament. It was led by police on motorbikes and horseback holding the South African flag.
He was accompanied by his third wife Thobeka Madiba-Zuma.
They were joined by Speaker Baleka Mbete and National Council of Provinces chairwoman Thandi Modise.
Deputy President Cyril Ramaphosa and his wife Tshepo Motsepe arrived ahead of Zuma in a black Mercedes-Benz. They were accompanied by Deputy Speaker Lechesa Tsenoli.
Zuma stood with his hand over his heart while the national defence force band played the national anthem and the 21-gun salute was fired.
MPs applauded and chanted “Zuma”, as he entered the House just before 7pm.