Richard Simmons, 68, has spent four days in Cedars Sinai hospital after he fell ill with indigestion He returned to his LA mansion Thursday evening in a car driven by his housekeeper, Teresa Reveles The fitness guru, last seen in public in 2014, waited in his garage until his manager and cops arrived He then entered his home hidden under a thick blanket, guided by Reveles, 64, and guarded by police He appeared rather frail as he exited the vehicle.