Boston ? Sen. Edward M. Kennedy gave a thumbs up to well-wishers and kisses to relatives as he walked out of the hospital Wednesday, a day after learning he has a cancerous brain tumor.

A square bandage at the back of his head marked the spot where doctors performed a biopsy Monday that led them to diagnose the Massachusetts Democrat with malignant glioma. Experts say such tumors are almost always fatal.

Kennedy’s dogs, Sunny and Splash, met him at the hospital door. Hospital workers and well-wishers greeted Kennedy with applause. Before he and his wife, Vicki, got into a dark Chevrolet Suburban, he kissed his daughter, Kara, and his niece Caroline Kennedy, and embraced his son, Rep. Patrick Kennedy, D-R.I.

The senator departed with a wave as television news helicopters followed his 75-mile trip south to his Cape Cod home. Along the way, he could be seen waving to nearby motorists from the front passenger seat of his SUV. He took a walk on the beach with his two Portuguese water dogs as soon as he arrived.

“Good to be back home,” he told waiting reporters before heading off for a sail on his sloop, “Mya.”

Doctors announced Kennedy “has recovered remarkably quickly” from the brain biopsy. They said he will recuperate at his home over the Memorial Day weekend while awaiting further test results that will help determine his treatment plan.