Let $W,W'\subseteq G$ be nonempty subsets in an arbitrary group $G$. The set $W'$ is said to be a complement to $W$ if $WW'=G$ and it is minimal if no proper subset of $W'$ is a complement to $W$. We show that, if $W$ is finite then every complement of $W$ has a minimal complement, answering a problem of Nathanson. This also shows the existence of minimal $r$-nets for every $r\geqslant 0$ in finitely generated groups. Further, we give necessary and sufficient conditions for the existence of minimal complements of a certain class of infinite subsets in finitely generated abelian groups, partially answering another problem of Nathanson. Finally, we provide infinitely many examples of infinite subsets of abelian groups of arbitrary finite rank admitting minimal complements.