The daughter of Nelson Mandela told ITV News she originally "felt a bit guilty" that she was not there when he died.
Zindzi Mandela was in London at the film premiere of Mandela: Long Walk to Freedom when she heard the news that her father had passed away.
In an exclusive interview, Ms Mandela said she later forgave herself as "he actually chose this moment to go".
She told ITV News presenter Mark Austin that Nelson Mandela chose then "to say ... I want you to be reminding people about what my values are, what my sacrifices have been and that irrespective of where I am, that the work must go on".