Gales exited the Shepherd Center in Atlanta on Wednesday, according to WSB-TV, telling the television station that he can't wait to see his family and teammates again.
"I don't know how I will act when I see them, but I know I want to see them and tell them I'm doing great and I will walk again," Gales said.
At a news conference on the Georgia campus Thursday, Gales and his family learned that the Triumph Over Tragedy Foundation intends to build them a new home in Baton Rouge, Louisiana, that will accommodate Gales' needs.
Gales broke his sixth cervical vertebra Sept. 26 against the Bulldogs. He was taken off on a stretcher and couldn't feel anything in his body.
He told WSB in January that he could feel his knee and the bottom of his feet. He was also able to move both hands and some fingers.
Gales will return to Atlanta in a few months to continue therapy.
Information from ESPN staff writer David Ching and The Associated Press contributed to this report.