Twenty years ago the soon to be President Mandela pledged to 'wash away the stains of apartheid' - two decades on those stains remain.
Barack Obama has led the tributes to Nelson Mandela saying that South Africa's democracy is his 'cherished legacy.'
Supermodel Naomi Campbell has spoken to ITV News at the memorial service for her "honorary grandfather" Nelson Mandela.
Archbishop Desmond Tutu is giving a blessing to bring the memorial service to a close.
He begins: "I stand here as an old man and I want to remind you that we got to this point because we were disciplined. So I am not going to give you a blessing until all of you stand."
"I want to hear a pin drop," he exhorts, before looking all around him to check that everyone is standing.
"You must show the world that we are disciplined," he says.
President Zuma announces that the Union Buildings amphitheatre, where Nelson Mandela was inaugurated in 1994, will now be called the 'Nelson Mandela Amphitheatre'.
He said this is a "fitting tribute to a man who transformed the Union Buildings from a symbol of racism and repression to one of peace, unity democracy and progress".
President Zuma jokes that "many leaders, some of whom are present here, have experienced his sharp tongue".
President Jacob Zuma is describing the moment the world first saw a "tall, imposing figure walking out into a world he had left behind 27 years before".
He says South Africans were, at that time, a "downtrodden people" and that they "needed a leader like Madiba".
Zuma refers to Mandela repeatedly as a "freedom fighter".
Daybreak correspondent Richard Gaisford reports that President Zuma is being booed by the crowd.
Boos drowning out the cheers & applause in our part of the Stadium as Zuma takes stage. He's determined to win them over. Electric start.
South African President Jacob Zuma is to give the keynote address next.
Ceremony organisers cut in with a musical interlude to drown out the boos from the crowd.
President Raul Castro says Nelson Mandela set an "insurmountable example" to Latin America and the Caribbean which he says are "currently moving towards unity and integration for the benefits of their peoples on the basis of respect for diversity".
Cuban President Raul Castro is speaking at the memorial service for Nelson Mandela.
He described Mandela as the "ultimate symbol of dignity and unwavering dedication to the revolutionary struggle for freedom and justice".
Out of respect for Nelson Mandela and his family, just observed minute's silence at ECOFIN Council in Brussels with fellow finance ministers
President Obama spoke about when he first learned about Nelson Mandela at school, and of how he was personally inspired by his struggle.
Watch the finale of his well-received speech: