Taufeeq had tested positive for the Coronavirus last month.
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"Allah has been very merciful towards me. I have completely recovered now. Everyone should take care of themselves during these testing times. We should all take precautionary measures to ensure our safety," Geo News quoted the 38-year-old as saying.
Taufeeq, who played 44 Tests and 22 ODIs for Pakistan, also urged others to not panic, instead focus on boosting their immunity if they happen to catch the virus.
"Do not be alarmed if you test positive. You should work towards boosting your immunity like I did. In this case, you should isolate yourself to a particular room of your house and stay away from kids along with the older members of your family."
The ex left-hand batsman scored 2,963 Test and 504 ODI runs for his country. His record including a century on Test debut versus Bangladesh and a double ton against Sri Lanka in 2011 in Abu Dhabi, making him only the seventh Pakistani opener to have done so at the highest level. Taufeeq last turned up for Pakistan in 2014.
(Inputs from Geo News)