(Transcript from World News Australia Radio)
The burial ends ten days of mourning and global tributes for the former South African president and anti-apartheid icon.
Mr Mandela died on December 5 at the age of 95 in his Johannesburg home.
Nearly 5,000 guests, including foreign dignitaries, attended the two-hour service, which blended state ceremony with traditional rituals.
Ildi Amon reports.
(Click on audio tab above to hear full item)
Nelson Mandela's flag-draped casket was brought to the funeral ceremony on a gun carriage as a 21-gun salute rang out over the surrounding hills of Eastern Cape province.
Inside the specially constructed marquee for South Africa's first black president, two rows of 95 candles were placed behind his portrait representing the years of Mr Mandela's life.
The state funeral for Mr Mandela, known affectionately as Madiba, combined traditional songs, music, the national anthem, prayers and a series of eulogies.
There was a sombre mood as funeral songs rang out, including one of Mr Mandela's favourite hymns which translates as, "Fulfill your promise, Lord".
The anti-apartheid activist was jailed for 27 years on Robben Island, emerging from prison in 1990 and becoming president after the country's first multi-racial elections in 1994.
A close friend who was imprisoned with Mr Mandela, Ahmed Kathrada, says Mr Mandela's death has left a void in his life.
"We are deeply grateful to Madiba, we are deeply grateful that today we live in a lively democracy, we are deeply grateful that dignity has been restored to all South Africans. Today, mingled with our grief, is 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, never before experienced in history. Farewell my dear brother, my mentor, my leader. When Walter (Sisulu, anti-apartheid activist) died I lost a father, and now I have lost a brother, my life is in a void and I don't know who to turn to. Thank you very much."
South African politicians, religious figures and celebrities were among those attending.
Archbishop Desmond Tutu was there, as was Britain's Prince Charles and U-S talk show queen Oprah Winfrey.
His widow Graça Machel and former wife Winnie Madikizela-Mandela also attended but didn't make speeches
Two of Nelson Mandela's 18 grandchildren and 12 great-grandchildren spoke at the ceremony.
His granddaughter, Nandi Mandela, shared memories of her grandfather as a young man.
"He was a true servant of the people and he was a great story teller. He had a great sense of humour. At dinner, he liked telling stories about his childhood. One of his favourite stories was of him chasing a piece of chicken with a fork at a dinner table with the family of a girl that he wanted as his girlfriend. He would say 'every time I stabbed the chicken, it jumped and I was sweating and embarrassed because I wanted to impress this young girl.' He laughed heartily as he reminisced about his youthful days."
South Africa's current President, Jacob Zuma, paid tribute to Mr Mandela, describing him as a pillar of strength and hope for the country and the world.
President Zuma told his mourning country that it was incumbent on them to carry on Mr Mandela's legacy.
"We are truly honoured to be part of the final journey of this great son of our country and the founding president of a free and democratic South Africa. Whilst your long walk to freedom has ended in the physical sense, our own journey continues. We have to continue building the type of society you worked tirelessly to construct. We have to take your legacy forward. One thing we can assure you of today Tata, as you take your final steps, is that South Africa will continue to rise. South Africa will continue to rise."
And Mr Zuma praised the hundreds of thousands of displays of admiration from mourners.
During the week, nearly 100,000 people had waited in line for hours to view Mr Mandela's body as it lay in state for three days in the capital Pretoria.
However, the final procession to the gravesite was restricted to Mr Mandela's family and a small number of dignitaries.
Mr Mandela was buried before midday, when the sun is at its highest, adhering to traditions for a man of his stature.
The funeral closes the final chapter on a towering public figure whose courage and moral fortitude turned him into a global symbol of freedom and hope.
