Mandela memorial in pictures

People sang South Africa's national anthem during the national memorial service that will celebrate Mandela's gift for uniting enemies across political and racial divides.

The memorial was held in the First National Bank (FNB) Stadium, better known as Soccer City, which seats over 94,000 people.

Graca Machel, wife of Nelson Mandela, arrived for the official memorial service in the pouring rain. The Nobel peace laureate is survived by his wife, three daughters, 18 grandchildren and 12 great-grandchildren.

Former South African President Nelson Mandela's ex-wife Winnie Mandela (L) and his daughter Zindzi were among the family members attending the memorial.

Hundreds of dignitaries from around the world were in attendance - including US President Barack Obama - who referred to Mandela as a "giant of history."

U.S. President Barack Obama greeted Cuban President Raul Castro and Brazil's President Dilma Rousseff before giving his speech.

Mourners filled the stadium with anti-apartheid songs and shouts of "Viva Tata Madiba" - "Long live Papa Madiba," Mandela's clan name.