Scipio, who wished to bring the war to a conclusion, and was unwilling to share the glory with anyone else, determined to bring Hannibal to a decisive battle. The Carthaginian at first avoided an engagement; but when Scipio, in order to deceive the enemy, hastily retreated as if he intended to take to flight, Hannibal followed him with his cavalry and lost a battle in the neighborhood of Zama. A tribune of Scipio soon afterward cut off a large convoy of provisions which was on its way to the camp of Hannibal, and this suddenly threw him into such difficulties that he began to negotiate with Scipio for peace. The conditions, however, which Scipio now proposed were so humiliating, that the Carthaginians would not accept them. Hannibal, therefore, though he saw the impossibility of gaining any further advantages, was compelled to decide the affair by a last and desperate effort. In a personal interview between the two generals Scipio was inexorable as to the conditions. Hannibal's army was in a bad condition; and in the ensuing battle, to the west of Zama, the victory of Scipio was complete. This defeat (in B.C. 202) was the death-blow to Carthage.
Scipio, on his return to Italy, was received with the greatest enthusiasm; he entered Rome in triumph, and was henceforward distinguished by the name of Africanus. He now for several years continued to live at Rome, apparently without taking any part in public affairs. In B.C. 199 he obtained the office of censor with P. Ælius Pætus, and in B.C. 194 he was made consul a second time with Tib. Sempronius Longus, and princeps senatus, a distinction with which he had already been honored in B.C. 196, and which was conferred upon him for the third time in B.C. 190. In B.C. 193, during one of the disputes between the Carthaginians and Massinissa, Scipio was sent with two other commissioners to mediate between the parties; but nothing was settled, though, as Livy observes, Scipio might easily have put an end to the disputes. Scipio was the only Roman who thought it unworthy of the republic to support those Carthaginians who persecuted Hannibal; and there was a tradition that Scipio, in B.C. 193, was sent on an embassy to Antiochus, and that he met Hannibal in his exile, who in the conversation which took place, declared Scipio the greatest of all generals. Whether the story of the conversation be true or not, the judgment ascribed to Hannibal is just; for Scipio as a general was second to none but Hannibal himself.