Schumacher, who is coming out of retirement to stand in for Massa at Ferrari, left the AEK hospital with former Ferrari boss Jean Todt but did not talk to reporters.
Schumacher used a 2007 version of the Ferrari F1 car to test drive at an Italian track on Friday.
Massa's family doctor Dino Altman said Saturday that the Brazilian was "doing well" and was "anxious to go home."
The Brazilian pilot's father, Luiz Antonio Massa, told : "Felipe was very happy that Schumacher was going to be his substitute... and he joked he was ready to race already."
"He could also travel with a commercial airline, but in a private plane it will be more comfortable," he added.
"He will pass through a Brazilian hospital just to do some checks and then he will rest at home."
Massa's brother Eduardo also told : "He wants to be back in the race right now... I am sure he will be driving as soon as it is possible."
Massa underwent surgery on multiple skull fractures after he was hit in the helmet by a loose part from another car and crashed into a protective tire barrier during qualifying at the Hungarian Grand Prix last Saturday.