Mr Mandela's key moments in London include Baroness Lawrence crediting him with helping their efforts to get justice for Stephen.
Images of Nelson Mandela's many visits to the capital.
There are 12 buildings and streets named after Nelson Mandela in the capital.
I've spoken to the Speaker and there will be statements and tributes to Nelson Mandela in the House on Monday.
There's no question that Nelson Mandela will be remembered as the greatest African leader of the 20th century, certainly the greatest South African probably in its history.
But on a world stage he is revered from one end of the earth to the other. An absolutely towering figure.
He was the first black president at the extraordinary age of 77 in 1994, but it's what came before that that really marks him out.
27 years in jail, 18 of them in the harshest conditions in Robben Island but when he was at the end of that jail sentence, when he came out, it was his spirit of forgiveness that struck everyone as so extraordinary.
There was the defiance yes of the long struggle to defeat apartheid but really it was that forgiveness.
You have to remember that when he became president people were actually predicting civil war in South Africa. The idea of a black South Africa to some people just seemed impossible.
It was his spirit that carried the country through.
Many expected Nelson Mandela to be bitter after his release from prison in 1990. In this interview with Sir Trevor McDonald, he makes it clear he is prepared to work with the president of the apartheid government F. W. De Klerk for the sake of ending discrimination in South Africa.
Mr De Klerk has already paid tribute to Mr Mandela saying he instantly saw greatness in him.
No-one was more delighted to see Nelson Mandela released from prison in 1990 than Archbishop Desmond Tutu. He can barely control his excitement in this brief interview with Sir Trevor McDonald:
Crowds gathered outside Nelson Mandela's Johannesburg home are celebrating his life.
Crowds gathered outside Nelson Mandela's Johannesburg home as news spread that the former South African president had died.
A statement posted on the Nelson Mandela Foundation website reads:
– Nelson Mandela Foundation
We know all South Africans and indeed the world join us in this profound sense of loss and sadness on the death of our beloved Founder, Nelson Rolihlahla Mandela.
Our deepest sympathies and heartfelt condolences are with the Mandela Family and friends at this time.
Let us stand together now and in the days ahead, and do what needs to be done to honour with dignity Tata Madiba.
We know you share with many of us the same passionate wish to see Nelson Mandela’s legacy being kept alive and made available to the world.
His legacy lives on in all of us – it is in our hands now.
Nelson Mandela spent almost 27 years of his life behind bars, breaking rocks in a quarry on Robben Island and sleeping in a cell measuring six by eight feet.
His time in prison had a huge impact on his family and his first marriage, but it also changed the lives of his fellow prisoners and even his guards.
James Mates reports on Mandela's long walk to freedom: