Watch Nelson Mandela's memorial service live

A memorial service for former South African president and anti-apartheid leader Nelson Mandela is being held in the FNB stadium in Johannesburg.

Read: Foreign dignitaries to speak at Mandela memorial

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Obama leads tributes to Mandela at memorial service

US President Barack Obama has led the tributes to Nelson Mandela saying that South Africa's democracy is his "cherished legacy." Thousands gathered in Johannesburg to celebrate the life of the former South African president.