South African president Jacob Zuma received a mixed reception as he arrived in the FNB stadium for Nelson Mandela's memorial.
Boos and cheers could be heard from the crowd as Zuma took his seat for the service.
Pictures released today give a unique look inside Air Force One as two former and one current US President flew to Nelson Mandela's memorial
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.'