Mr Pistorius's family and supporters in the court gasped and cheered as the magistrate announced his decision.
Pistorius is accused of premeditated murder in the February 14 shooting death of Steenkamp, 29.
Pistorius says Steenkamp's death was an accident and that he mistook her for a burglar.
Arnold Pistorius described the runner's grief as "unthinkable" and says his heart bleeds for his nephew.
"I've still got goose bumps and my race was an hour ago, " Pistorius said.
"I found myself smiling in the starting blocks, which is rare in the 400-meter, " Pistorius said.
So, besides the murder charge, Pistorius might also face an additional charge of illegal firearms possession.
Like Pistorius, Ann Woodward appeared to grieve the demise of the person she had killed.
Pistorius has been charged with shooting dead his girlfriend at his home in Pretoria.
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Mr Pistorius' girlfriend, model Reeva Steenkamp, was shot dead at his home on Thursday.
It's unknown whether Oscar Pistorius will be in court to support his brother during his trial.
One man who made headlines in the race, without winning, was South Africa's Oscar Pistorius.
Oscar Pistorius says he shot dead Ms Steenkamp after mistaking her for a burglar.
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An athletics talent he may be, Pistorius began his sporting career on the rugby field.
Oscar Pistorius was just 17 when he won gold at the 2004 Paralympic Games in Athens.
It shows Pistorius in the distance with the bars of a metal fence in the foreground.
Neither Pistorius' coach nor his agent knew about the track visit until afterward, Van Zyl said.
He made the comments as part of a forthcoming BBC3 documentary, Oscar Pistorius: What Really Happened?
The other athletes seemed eager to treat Pistorius as an equal, not an oddity.
Should we be so thoroughly shocked to find out that Armstrong and Pistorius are deeply flawed?
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On Thursday, Mr. Pistorius's lawyers won an appeal to get those bail conditions reduced.
Oscar Pistorius had a history of altercations with his girlfriend and is now accused of murder.
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Pistorius is a Paralympic champion and the first ever double-amputee to compete in an Olympic event.
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Pistorius will run the third leg of four with LJ van Zyl replacing the injured Mogawane.
Pistorius did not advance to the men's 400-meter final, but he is still an inspiration.
Mr. Pistorius has earned millions from endorsements that, due to this case, have come under threat.
WSJ: Lead Detective in Pistorius Case Pulled, After Facing Charges
Pistorius says he mistakenly shot Steenkamp, thinking she was an intruder in his home.
Pistorius, for his part, addressed his growing stardom at a press conference last week.
However his critics viewed him, even the friends who criticized Pistorius' actions defended him.
CNN: Not everyone surprised at Oscar Pistorius' fall from grace
Joffe is one of the few South African journalists who has been critical of Pistorius.
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