Mbeki had also explained this to representatives of that country's political opposition when he met them over the weekend, said presidential spokesperson Bheki Khumalo.
He said it was not up to South Africa to express disapproval or otherwise of the Haiti government.
"Haitians themselves must decide the make-up of their government," Khumalo said.
He pointed out that Mbeki had discussed with Haiti's President Jean Bertrand Aristide some of the issues raised by the opposition in his discussions with them. Khumalo declined to state what these issues were.
He rejected criticism of the visit by the Democratic Alliance, saying it had been important for South Africa to attend the festivities as they "linked up" with the country's own celebration this year of 10 years of democracy.
It all had to do with an affirmation of the dignity of black people, the African renaissance, and the African diaspora, Khumalo explained.
"For us it was important in that sense".
Last week's festivities were held to mark 200 years of Haitian independence from France - creating the world's first African republic.
DA leader Tony Leon earlier said he would use the State of the Nation debate next month to demand to know the full costs of Mbeki's visit and what benefits it held for South Africa.
Khumalo said he did not know the cost implications.
Leon accused Mbeki of "propping up yet another international outcast - and in the process misusing millions of taxpayers' rands. He described Aristide as "the Mugabe of the Caribbean", and lamented that country's human rights record.
Mbeki, who returned to South Africa on Saturday, left Foreign Affairs Minister Nkosazana Dlamini-Zuma behind in Haiti to finalise discussions with different parties on the situation in the island state.
Khumalo denied media reports that Mbeki had returned prematurely.
He stressed the president's readiness to assist in mediation in Haiti.
"Whatever request is made, he will look at it".
But, the president did not wish to duplicate any of the efforts already underway, Khumalo said.
Civil unrest in Haiti has left 37 dead and 92 wounded since September, with anti-government protesters calling for Aristide's resignation. – Sapa.
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