A selection of quotes from the speeches at the memorial service and from mourners attending the event:
"For the people of South Africa, for those he inspired around the globe - Madiba's passing is rightly a time of mourning, and a time to celebrate a heroic life ...
In the arc of his life, we see a man who earned his place in history through struggle and shrewdness; through persistence and faith ...
He accepted the consequences of his actions, knowing that standing up to powerful interests and injustice carries a price."
Mandela family friend Andrew Mlangeni said in his opening remarks that Mandela "created hope where there was none." He added: "He touched my heart, my soul, my life and those of the millions of South Africans."
"To him, life was all about service to others," said family member Gen. Thanduxolo Mandela. "He mingled with kings, queens and presidents ... At the core, he was a man of the people."
"Mr. Mandela was more than one of the greatest pillars of our time," U.N. Secretary-General Ban Ki-moon said in his speech. "He was one of our greatest teachers. He taught by example. He sacrificed so much ... for freedom and equality, for democracy and justice."
"His life was just an extraordinary journey, from beginning to end, with such an effect, both on his own country, and on the rest of the world," former British Prime Minister Gordon Brown said before the service.
"I think Madiba would like us to celebrate and not be sad, to have smiles on our faces," said Muhammad Choonara, a 24-year-old university student, said during the memorial. Madiba is Mandela's clan name that most South African use as an endearment.