The Archbishop of Canterbury has spoken at a special service at St Martin-in-the-Fields in Trafalgar Square, remembering Nelson Mandela.
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.
The life of Nelson Mandela will be celebrated at Westminster Hall later this afternoon.
A number of musical performances are expected to take place.
Foreign Secretary William Hague and Labour leader Ed Miliband are among the political figures who will pay their tributes.
Ria Chatterjee reports.
There is a growing celebratory atmosphere at South Africa House in Trafalgar Square today. A strong smell of incense fills the air as crowds remember Mr Mandela with a constant flow of song and dance.
The shrine and the group are the focus of photographers, broadcasters, reporters, intrigued passers-by, and passengers on the top deck of passing buses.
The Queen visited a plaque commemorating Nelson Mandela's 1996 visit to Parliament after saying she was "deeply saddened" to learn of his death.
She was heard telling Commons Speaker John Bercow how 'William and Catherine' heard the news at the premiere of the film about the former South African President's life; Mandela: Long Walk To Freedom.
Honoured to visit South Africa House & sign the Condolence Book on behalf of London, in remembrance of Nelson Mandela http://t.co/Z4RM0goj6O
The Nelson Mandela statue in Parliament Square today.