US president Barack Obama left Accra on Saturday evening after his first visit to sub-Saharan Africa since his inauguration.
He was seen off by his host President John Evans Atta Mills, ministers and a crowd of people at about 1900 hours.
In pre-departure comments, President Mills described the visit as "very successful" and thanked President Obama, his family and delegation for honouring Ghana and choosing it for his first visit to sub-Saharan Africa which he described as "a very successful".
President Mills also thanked his guest for the message he delivered in Parliament on his vision for Africa and said it showed that there was hope because hope was a powerful weapon.
He was optimistic that the visit would open doors for the country.
President Obama said the visit had been meaningful to him adding that he discussed the future of Ghana and Africa with President Mills.
He said he would never forget the image of his two daughters at the Cape Coast Castle walking through the "door of no return".
During the two-day visit, he delivered a speech to the Ghanaian parliament in which he outlined his vision for Africa, held bilateral talks with President Mills and toured the Cape Coast Castle, a former slave post some 1670 kilometres west of Accra.
President Obama said he chose Ghana for his first visit because of its strong democratic credentials.