Mr Mandela made his last public appearance at the same stadium for the closing ceremony of the 2010 World Cup, when the venue was called Soccer City.
He died on Thursday at the age of 95.
After the memorial, Mr Mandela's body will lie in state at the Union Buildings, the seat of government in South Africa's capital, Pretoria, from Wednesday to Friday.
He will be buried Sunday in Qunu, the Nobel Peace Prize laureate's rural hometown in Eastern Cape Province.
Watch the full memorial on SBS' live-stream here from 8pm.
Find the complete programme below:
National anthem:
Mass choir
Welcome and Opening Remarks:
Programme Directors
Interfaith prayers
Tribute by family friend:
Andrew Mlangeni
Tribute by family:
General Thanduxolo Mandela
Tribute by Grandchildren:
Mbuso Mandela, Andile Mandela, Zozuko Dlamini, Phumla Mandela
Tribute by UN Representative:
Secretary General Ban Ki-Moon
Tribute by AU Commission Chair:
Dr Nkosazana Dlamini Zuma
Tribute by foreign dignitaries:
President Barack Obama (USA), President Dilma Rousseff (Brazil), Vice-President Li Yuanchao (China), President Hifikepunye Pohamba (Namibia), President Pranab Mukherjee (India), President Raul Castro Ruz (Cuba).
Keynote address by the President of the Republic of South Africa:
His excellency Jacob Zumba
Sermon:
Bishop Ivan Abrahams
Vote of thanks:
Premier of Gauteng, Nomvula Mokonyane
