Smith, who won silver at this summer’s games, apologised to he Muslim community for the clip which showed him pretending to pray to Allah while laughing.
The former Strictly Come Dancing star received death threats from extremists following the footage.
Fanatics have reportedly sent messages to Smith saying “I want to kill you” and “death to your family”.
He said at the time: “I’m not scared, just cautious and stressed. If it was just me in the line of fire I could deal with it but friends and family are a whole different ball game.
“One guy’s Facebook page had pictures of himself with a pistol on his lap.”
But Smith took to Facebook last night to say: “I accepted the offer to learn more about the Muslim community and Islam. I honestly can say it was actually a really good day.
“I was a little nervous and anxious before visiting because of the events in the last week. But the people and the community where so understanding and inviting.”
The star said he was “ignorant to people”s religion” and that it was his responsibility, as “someone of sporting influence”, to exercise his opinions in good taste.
Smith added: “We discussed my actions and they showed me what they learn and the true meaning behind their religion of peace.
“The community work they do for various charities is actually crazy and the money raised each year would blow your mind.”
The athlete skipped the “Heroes Return” celebrations in London’s Trafalgar Square where more than 6,000 fans gathered to congratulate Olympians and Paralympians.
He was also not in attendance at a Buckingham Palace reception later on Tuesday, hosted by the Queen and Duke of Edinburgh, for Rio medallists.
Days after the video was revealed online, Smith apologised, revealing his feelings of “shame”.
The 27-year-old is currently being investigated by British Gymnastics and could face disciplinary action.