I don't know about the Rudyard Kipling original, but he certainly did in the Disney original animated feature.
BUT, it doesn't look like he did so here, and was content to remain in the jungle for the rest of his life! That's a MAJOR no-no to me! He's HUMAN, he should be with his own kind, no matter how they are!
Why are you here if you haven't seen the movie yet?
I can't be absolutely sure but I think that Mowgli does return to the jungle in Kipling's original story. I know that he has trouble adjusting to human life and Shere Khan is still out to kill him.
I actually think that it is fitting that Mowgli should remain in the jungle so that he can be with the creatures that reared him. I think that the ending to the 1967 animated version is a little sad as he prepares to leave his jungle friends behind at the end.
Hence the already in production sequel...