The former South African president visited Australia twice in his life.
This first visit, made in 1990, was part of a tour Mr Mandela embarked upon to thank people who had lobbied for his release from prison.
Australia's unions, then under the control of former Australian prime minister Bob Hawke, had been staunch supporters of Mr Mandela, agitating for his release.
"He had travelled to Australia to thank our nation for the part we played in bringing about his release," said Mr Hawke.
Mr Hawke, who was present when Mr Mandela was inaugurated as South African president in 1994, said that the South African freedom fighter would always be thought of as the Father of Democracy in South Africa.
"His long campaign and self-sacrifice for political freedom for his people in South Africa was unparalleled in the 20th century."
During the same trip in 1990, Mandela attracted criticism from some Indigenous Australians, who were offended by Mandela's failure to speak about Aboriginal rights during his visit.
Speaking earlier today to SBS World News Australia Radio, the Aboriginal rights campaigners stood by their criticisms.
"He didn't have to make any grand gestures. He didn't have to just go to the extent of completely humiliating the Australian government. All he needed to do was a little gesture," Aboriginal rights activist Gary Foley said.
However, Mr Foley simultaneously commended Mr Mandela on his immense contributions.
"He's one of the great men of history, there's no two ways about it."
Mr Mandela was awarded a Companion in the Order of Australia in 1999 in Pretoria, South Africa, by then prime minister John Howard.
In September 2000, the year after Mandela stepped down as the South African president, he visited Australia for the second time.
During the 10-day visit, he received three honorary doctorates from Sydney University and the University of Technology, Sydney, gave speeches and attended social functions.
Many of Australia's current federal MPs have expressed their respect and admiration of Mr Mandela and his vast contributions to equality in South African and across the globe.
Prime Minister Tony Abbott released a short statement addressing the significant contribution made by Mr Mandela to the world.
Leader of the Opposition Bill Shorten and Greens leader Christine Milne also tweeted praise for the South African hero.
Former prime ministers Kevin Rudd and Julia Gillard, along with several other federal MPs, shared their thoughts too.
