The president of South Africa has paid tribute to Nelson Mandela as a "beacon of hope" as dignitaries from around the world gathered for the state funeral of the anti-apartheid hero.
The Prince of Wales is among 4,000 people attending the final farewell service for South Africa's first black president, along with Mr Mandela's family members, African leaders and several heads of state.
Charles, who arrived in South Africa this morning, has been joined by the British High Commissioner Judith Macgregor for the ceremony in Qunu, the remote village where Mr Mandela grew up.
Prominent US civil rights activist Reverend Jesse Jackson is also attending, as well as former Zimbabwean prime minister Morgan Tsvangirai, entrepreneur Richard Branson and broadcaster Oprah Winfrey.
Addressing the congregation, South African president Jacob Zuma said: "It is the end of an extraordinary journey that began 95 years ago.
"It is the end of 95 glorious years, of a freedom fighter, a dedicated and humble servant of the people of South Africa.
"Fountain of wisdom, a pillar of strength, and a beacon of hope for all those fighting for a just and equitable world order.
"Your long walk to freedom has ended in a physical sense.
"Our own journey continues. We have to continue working to build the kind of society you worked tirelessly to construct. South Africa will continue to rise."
The funeral service marks the end of a week of memorial events for Mr Mandela which have attracted thousands of South Africans and world leaders.
Charles is representing the Queen after Buckingham Palace confirmed that the 87-year-old monarch would not make the journey to South Africa for the ceremonies to mark Mr Mandela's death.
After the former statesman's death, Charles described Mr Mandela as the "embodiment of courage and reconciliation" and said his passing had left "an immense void" in the lives of everyone who had been affected by his fight for justice and freedom.
The South African and Union flags are being flown at half-mast above 10 Downing Street today to mark the ceremony.
Mr Mandela's body arrived in Qunu in the Eastern Cape region of South Africa yesterday as large numbers of people lined the roads to pay their respects as the cortege passed by.
His coffin, draped in the country's national flag, had earlier been carried from a farewell service in Pretoria and on to a military plane, escorted by two fighter jets.
This morning, South African military honour guards marched and stood at attention on a dirt road at the Mandela family compound ahead of the funeral.
After the ceremony, a smaller group of mourners will attend his burial at a family grave site on the estate.
Preparations for Mr Mandela's funeral were marred by a public spat between the South African government and retired archbishop Desmond Tutu, one of the most prominent survivors in the long anti-apartheid struggle.
Mr Tutu, a Nobel laureate who has strongly criticised the current government, will attend after earlier saying he would not, despite wanting to pay respects to his long-time friend.
He had said he was not invited - an apparent snub that the South African government vehemently denied.
At least 100,000 people saw Mr Mandela's body lying in state in Pretoria over three days this week, but some had to be turned away.
The 95-year-old former leader, who was imprisoned for 27 years for opposing apartheid before emerging in 1990 to forge a new democratic South Africa, died on December 5.
In the Xhosa language, Mr Mandela's granddaughter Nandi Mandela said: "Go well Madiba. Go well to the land of our ancestors, you have run your race."
She added: "We will carry lessons you taught us throughout our lives.
"As South Africans we must stop pointing fingers, but must rather lead by example, as you did."
Chief Ngangomhlaba Matanzima, a representative of Mr Mandela's family, said: "A great tree has fallen, he is now going home to rest with his forefathers. We thank them for lending us such an icon."
Ahmed Kathrada, who was imprisoned on Robben Island with Mr Mandela, said: "Your abundant reserves of love, simplicity, honesty, service, humility, care, courage, foresight, patience, tolerance, equality, justice, continually serve as a source of enormous strength to many millions of people in South Africa and the world.
"Today, mingled with our grief, is the enormous pride that one of our own has during his lifetime and now in your death united the people of South Africa and the entire world on a scale never before experienced in history."