The man identified as K Krishnaiah alias Gunna reached his father's residence on Wednesday. Huge crowd thronged his house after news of his return spread in the area.
Gunna, a mentally unsound, left home at age of 22 in 1997 and did not return, reported Times of India.
His family looked for him for two years and later presumed him dead and gave up hope to find him.
"We lodged a missing complaint at the Veldhanda police station," said his mother Chandramma.
Finally, after a 10-year wait, the Veldhanda tehsildar even issued a death certificate in his name.
There is no clarity on what Gunna did all these years, how he survived and where he had been.
According to Shraddha Rehabilitation Foundation, he was found wandering at a bus stand in Maharashtra three months ago by some of the volunteers.
"He was found in pain. Initial checks showed that he was mentally unsound. With the help of the Foundation members, we shifted him to Mumbai and took care of him. We also ensured he received psychiatric treatment and counselling for 45 days. Now, he is much better," said a volunteer said.
It took another 10 days for his caretakers to establish his identity.
"I am happy to find my son healthy condition," said his mother.