Mugabe was accompanied by his wife Grace, daughter Bona and her husband and senior government officials.
Mugabe, the newspaper said, was due to hold discussions with Equatorial Guinea President Teodoro Obiang Nguema Mbasogo, who is on a three-day working visit to consult the veteran president who is the outgoing chair of the African Union (AU).
Mugabe will hand over the chair at the 26th AU General Assembly to be held later this month in Ethiopia.
Mugabe, who turns 92 next month, has become subject to regular rumours of ill health or death.
In the recent scandalous speculation, an online publication reported that Mugabe had suffered a heart attack and died in Singapore, a report that was immediately dismissed by the presidency as false.
“You can not doubt that there will be a story on the President’s alleged death every January,” presidential spokesperson George Charamba said.
He said stories about Mugabe’s ill health or death emerged each year when he took his annual leave outside the country.
The veteran president has been to Singapore on several occasions for specialist eye treatment, even though unconfirmed reports say the leader is also battling cancer.
A birthday bash to celebrate his 92 birthday will be held next month. Enditem