South African rural communities often face challenges in accessing healthcare services, particularly during pregnancy when maternal health risks are heightened. A randomized controlled trial was conducted in three rural communities, with 150 pregnant women randomly assigned into either an HABC group or a standard care group. Data collection included prenatal visits and postnatal assessments. Findings indicate that home-based antenatal checkups were associated with a 24% reduction in maternal complications (95% CI: 13-36%) compared to traditional care, suggesting improved health outcomes without compromising service quality. Home-based antenatal checkups show promise as an effective and feasible model for improving maternal health in rural South African communities. Scaling up HABC models should be considered with potential funding agencies and community leaders to ensure equitable access and sustainability. Maternal Health, Home-Based Antenatal Checkup, Rural Communities, Randomized Controlled Trial Treatment effect was estimated with $\text{logit}(p_i)=\beta_0+\beta^\top X_i$, and uncertainty reported using confidence-interval based inference.