Preparations are also well underway for a sweeping and emotional farewell for the 95-year-old, who will be buried on December 15 in his boyhood home of Qunu.
World leaders and luminaries are expected to fly in and pay their respects to the man who transformed his country and became a global symbol of hope and freedom.
Mandela's body will lie in state for three days from Wednesday, with the coffin taken in a cortege through the streets of Pretoria each morning.
About 80 thousand people are expected to attend a memorial service on Tuesday in the Soweto sports stadium that hosted the final of the 2010 World Cup.
Ten days of mourning will be held for the anti-apartheid icon.
President Jacob Zuma on Friday announced the mourning period for Mandela, the founding father of modern South Africa and its first black leader, after he died late on Thursday aged 95, surrounded by friends and family.
Prime Minister Tony Abbott and Opposition Leader Bill Shorten will present a united front to honour and farewell Nelson Mandela.
The pair will fly to Johannesburg next week to join world leaders past and present, mourning the former South African president who died at home yesterday aged 95.
A huge memorial service is planned for the nation's first black leader on Tuesday, with U-S President Barack Obama already confirming his attendance.
Mr Shorten's office says he's accepted an invitation from Mr Abbott to accompany him.
Both men will miss most of the final 2013 parliamentary sitting week.
Obama, America's first black president, will travel to South Africa next week, the White House said, joining a raft of world leaders for a huge December 10 memorial service.
Mandela's body will lie in state in Pretoria for three days before he receives a state burial on December 15 in his boyhood home of Qunu.
The logistics are daunting for hosting the great and the good who plan to fly in from around world to honour the universally respected statesman.
The official SAPA news agency quoted a travel industry official saying that "very little accommodation will be available in Johannesburg and Pretoria" in coming weeks as the South African government and various consulates block book hotel rooms.
Memorial events begin on Saturday with thousands expected at a wreath-laying event in a Johannesburg park.
Obama and his wife Michelle will travel to South Africa together with former first couple George W and Laura Bush.
Ex-president Bill Clinton, who was in office when Mandela took power to become South Africa's first black president, also said that he would be making the trip with his family.
In a tribute shortly after the revered statesman's death was made public, Obama mourned Mandela as a "profoundly good" man who "took history in his hands and bent the arc of the moral universe towards justice".
Australian Prime Minister Tony Abbott said he would attend the memorial to honour "a truly great world leader, an extraordinary man".
On Friday, ordinary South Africans across the country poured out onto the streets in a riot of colour, dance and song to celebrate the life of their beloved ex-leader, known affectionately as Madiba.
In Cape Town, a crowd of thousands from all races and ages gathered for a multi-faith celebration at the site where Mandela made his first public speech after nearly three decades in apartheid jail.
"Tonight we stand in solidarity as the people of Cape Town - black, white, coloured, Indian, all the religions together," said mayor Patricia De Lille.
South Africa's archbishop emeritus Desmond Tutu, a fellow Nobel prize winner, praised Mandela as an "incredible gift that God gave us".
Fighting back tears, Tutu said his old friend was "a unifier from the moment he walked out of prison".
Mandela spent 27 years in an apartheid prison before becoming president and unifying his country with a message of reconciliation after the end of white minority rule. He shared the Nobel Peace Prize with South Africa's last white president, F.W. de Klerk, in 1993.
Palestinians and Israelis, Beijing and the Dalai Lama, Washington and Tehran all paid heartfelt tribute to Mandela, describing him as one of the towering figures of the 20th century who inspired young and old with his fight for equality.
North Korea, in its first official reaction on Saturday, sent its condolences to South Africa, praising Mandela's "struggle against racism and for democracy".
Flags flew at half-mast in numerous countries, including the United States, France and Britain, and at the United Nations headquarters in New York.
In Paris, the Eiffel Tower lit up in green, red, yellow and blue to symbolise the South African flag, while India declared five days of mourning for a man the premier labelled "a true Gandhian".
And a Paris summit of some 40 African leaders was overshadowed by Mandela's death. An old associate, African Union Commission president Nkosazana Dlamini Zuma, said Mandela "was a son who became larger than the continent".
In Brazil, organisers of the 2014 football World Cup flashed Mandela's image up on a giant screen and held a minute's silence before the groups' draw.
Even Syria's beleaguered president, Bashar al-Assad, ventured a homage on his official Facebook page, calling Mandela "a torch for the resistance and liberation from racism, hatred, occupation and injustice."
While the ailing former statesman's death had long been expected after a spate of hospitalisations, Thursday's announcement came as a burst of searing sadness nonetheless.
Mandela had waged a long battle against a recurring lung infection and had been receiving treatment at home since September following a lengthy hospital stay.
His December 10 memorial service will take place in a 90,000-plus capacity Soweto stadium.
