"Why do you want to compromise the revolution?" he said.
Mr Mbalula was addressing ANC supporters at a rally outside parliament after Mr Zuma survived a no-confidence by a wafer-thin margin.
At least forty MPs of South Africa's governing ANC rebelled against President Jacob Zuma in the no-confidence vote in parliament.
A total of 177 MPs voted to oust South Africa's President Jacob Zuma, compared with the 198 who voted to keep him in power.
Zuma has been hailed as the "commander-in-chief of the revolution" by his supporters at a rally in Cape Town.
They sang and danced as he came to address the rally.
He said the result showed that the governing ANC was "big and powerful", and the party represented the overwhelming majority of South Africans.
The ANC will win the 2019 general election, he added.
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