The Mandela family heard the will in full before some details were made public. The meeting with the family was described as, "charged with emotions, it went well and the will was read page to page, so it took longer than we had anticipated and clarification was sought as we went on.
"Virtually all the family and descendants were present."
Nelson Mandela has left money to several schools in South Africa.
Mandela's will provides money for scholarships for youngsters in his home village, Qunu
A judge in Pretoria has read and executive summary of Nelson Mandela's will. The former South Africa president left 50,000 Rand (£2,750) to each of nine of his staff.
In his will Mr Mandela said the money was, "in consideration for the personal service I have received."
Details of Nelson Mandela's will to be made public. One of the executors of the will is reading from an executive summary of the will in Pretoria.
Details of Nelson Mandela's will about to be made public
Mandela will being made public due to public interest
Mandela's will was written in 2004 and was subsequently amended
A bronze rabbit placed inside the ear of a large statue of Nelson Mandela has sparked outrage from the South African government who have called for the hare to be removed.
The government said it wanted the creature to be removed from the statue - which was unveiled in Pretoria 11 days after the anti-apartheid leader's death - to "restore integrity" to the 30 foot sculpture.
Artists Ruhan Janse van Vuuren and Andre Prinsloo said they added the animal as a personal stamp after the authorities stopped them from engraving their signatures on the sculpture.
The hare was also a nod to the tight deadline the sculptors faced, with the Afrikaans word for rabbit - "haas" - also meaning haste.
A spokesman for the Department of Arts and Culture said the animal "undermined what we erected the statue for" and denied that Madiba, who was known for his sense of humour, might have found the rabbit funny.
The artists have apologised for adding the hare.
A nine-metre bronze statue of Nelson Mandela was unveiled in South African capital Pretoria, a day after the nation buried the anti-apartheid hero.
The largest statue of Mandela in the world depicts the former president with his arms outstretched to symbolise unity and reconciliation.
Relatives and friends of the man accused of faking sign language interpretation at Nelson Mandela's memorial service have claimed he was involved in the killing of two men who were burned to death in 2003.
The men were said to have been found with a stolen television by a group of people who then set fire to tyres placed around their necks.
The four unnamed sources told the Associated Press that Thamsanqa Jantjie did not go on trial for the killings alongside the other suspects in 2006 because the authorities determined he was "not mentally fit to stand trial".
He was reportedly institutionalised for a year before he began working as a sign language interpreter at events for the governing African National Congress.
AP said Mr Jantjie was unavailable for comment.
Nelson Mandela has been laid to rest on a family plot after a ceremony that included a 21-gun salute and flyovers by military aircraft.Read the full story ›
The people of South Africa have said an emotional final goodbye to Nelson Mandela after the country's first democratically elected leader was buried in the rural village of Qunu.
The burial ceremony was broadcast on screens in the area including on a hill overlooking Mandela's property.
Military helicopters flew over Nelson Mandela's grave in Qunu during the service.
Earlier, over 4,000 people gathered for a large funeral service where members of the Mandela family, Jacob Zuma and old friends paid tribute to the former president.
In the final message, shortly before Mr Mandela's casket was lowered into the earth, the chaplain general of the South African military, Brigadier General Monwabisi Jamangile said:
"Yours was truly a long walk to freedom and now you have achieved the ultimate freedom in the bosom of your maker, God almighty. Amen."