More than 1000 mourners packed St Paul's Anglican Cathedral in central Melbourne for Brock's funeral, with his coffin draped in the Australian flag and decorated with Australian native flowers.
Across Flinders Street, thousands more crammed into Federation Square, many wearing the familiar red colours of the Holden Racing Team.
One of Brock's open-faced racing helmets and a painted portrait of the motor racing legend are also on display in the stately sandstone church.
The state funeral has been led by the Anglican Dean of Melbourne, the Very Reverend David Richardson.
'Remarkable man'
Federal Tourism Minister Fran Bailey, Brock's local MP, paid tribute to him in a eulogy.
She hailed Brock as a remarkable man whose life was an incredible journey from growing up in the hills of the Plenty Valley in Hurstbridge, to conquering and commanding racing at Bathurst and beyond and on the way influencing and changing the lives of so many people.
"Peter was down-to-earth, a straight-shooter, cared deeply about the community that he grew up in," she said.
"(He) was passionate about caring for the environment, was concerned about indigenous communities, wanted to seize opportunities to help young people going through rough patches, had an insatiable curiosity and an almost self-deprecating sense of humour."
'Good bloke'
Friend and former Collingwood AFL great Peter Daicos described Brock as "a good bloke".
"For a kid from Preston, growing up, it was about Ford cars but, more importantly, it was about Peter Brock, and when I got the chance to get to meet my idol in '83, I was a little bit awestruck," he said.
"He was my idol. He was my champion but, at the end of the day, he was everyone's friend."
Race commentator and former touring car driver Neil Compton said Brock didn't like funerals.
"There was absolutely no room for misery or the negative in Peter's world, so we'd all better straighten up right now," Mr Compton said.
Mr Crompton, who began driving with Brock in 1987, said fans had left hundreds of tributes for Brock at Bathurst's Mount Panorama track where he made his name, and where an ecumenical service was also being held today.
Aboriginal tribute
Two members of the Wurundjeri community, one in ceremonial body paint and playing a didgeridoo, took part in the service.
Wurundjeri elder Joy Murphy paid tribute to Brock's support of Aboriginal causes.
"We sincerely thank you, our brother, for what you gave to us," she said.
"You acknowledged our identity. You made us feel very proud. You spoke the truth. We became good friends. We shared laughter and you so much wanted to learn more about our culture."
Friend of 23 years, Eric Dowker, said the sadness Australians felt at Brock's passing was proportional to the love the racing legend gave.
"Peter lived his life like he raced, always flat out, looking in front of him and excited for what the next moment would bring," Mr Dowker said.
"Peter's life was about touching people on the inside, a person who would talk to anyone at any time, help anyone at any time and share his passion with us all the time."
'Angelic nature'
Lewis Brock said his brother had an "angelic nature" that inspired those around him and said Brock appeared to never be daunted by the obstacles that confronted him, and that he always treated people as equals.
He then praised his brother's "gift of communication" and tireless work with charity groups through to sporting organisations.
Brock's daughter Alexandra, choking back tears, lamented the fact her father would not see his grandchildren grow up.
"It's impossible to know how to sum up a man like him, so I don't think I can really even try," she said.
"I thank you so much for being here and proving how amazing my father was and I thank you all for letting me see and appreciate how much he meant to you all and how much he meant to us."
Brock's coffin was carried from the church by family members in a procession led by daughter Alexandra, clutching his racing helmet.
Crying, Alexandra placed her father's helmet on the coffin inside the hearse.
Family and friends comforted each other as Brock made his final journey through the streets of Melbourne, flanked by throngs of adoring fans.
His body will be cremated in a private ceremony.
Flags on the Sydney Harbour Bridge will be lowered to half mast for the next two days as a mark of respect for Brock who has been lauded as a great Australian by New South Wales Premier, Morris Iemma.
The 61-year-old was killed when the Daytona Coupe replica he was driving slammed into a tree during the Targa West tarmac rally near Perth, on September 8.