The France international, who was hospitalised earlier this week in the Miami area with acute gastroenteritis, remained at the team hotel and will not travel to Charlotte, North Carolina.
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“Kylian Mbappe was discharged from the hospital this afternoon and has returned to the training camp,” a statement from the club read.
“Mbappe will continue receiving specific medical treatment and will gradually return to team activity.”
Mbappe was sidelined for Los Blancos’ opening game against Al-Hilal, which ended in a 1-1 draw, leaving RB Salzburg top of the group with three points after their 2-1 win over the Mexican side.