Pistorius was seen arriving at the restaurant in the Fourways Design Quarter in Johannesburg last Saturday, according to the report by the Sunday Times.
This was the first time Pistorius, who has been charged with murder after his girlfriend law graduate Reeva Steenkamp was shot dead in his Pretoria home on February 14, was seen out in public.
Pistorius family spokesperson Anneliese Burgess told the Sunday Times that it was the first time the paralympian went out with friends but left the Kitchen Bar when "public interest became overwhelming".
"He has been out of the house with family, but this was the first time he went out to a restaurant with people other than close family," she was quoted as saying.
Relaxed conditions
"For Oscar, it was a way of trying to reconnect with friends of his and Reeva's – and these were the people he went out with."
According to the report Pistorius left the restaurant and went to Buddha Ta, opposite Kitchen Bar, where he spent 30 minutes before leaving.
Pistorius was released on bail on February 22 under conditions which included a ban on international travel.
He successfully challenged the conditions in the High Court in Pretoria and several were relaxed, including bans on travel and alcohol consumption.
In the week, Pistorius and his family bemoaned the tone of social media comments on his relationship with Steenkamp.
"The disregard that is being shown by some – specifically those commenting via social media – for the profound pain that Reeva's family and friends are going through is very troubling," the family said in a statement.
"There is not a moment in the day that Oscar does not mourn for his girlfriend and Reeva's family, and all those who were close to her are in his thoughts constantly." – Sapa