Nelson Mandela's body has been laid to rest in a family plot, after political and religious leaders paid tribute to South Africa's first black president at a state funeral service.

His widow, Graca Machel, and President Jacob Zuma were present for the private, traditional Xhosa ceremony at Mr Mandela's ancestral home in Qunu.

Mr Zuma had earlier told the larger funeral service that South Africans had to take his legacy forward.

Mr Mandela died on 5 December aged 95.

A close friend, Ahmed Kathrada, told mourners at the service he had lost an "elder brother" who was with him for many years in prison on Robben island.

Mr Mandela's casket was carried by the military, accompanied by family and friends, from a specially-erected marquee up a hill to the graveside.

As his coffin was lowered into the grave, South African military helicopters and jets staged a fly-past and cannons fired a 21-gun salute.

The BBC's Pumza Fihlani said it was a fitting send-off for a man widely seen as the "father of the nation".

'A great tree has fallen'

The final day of South Africa's 10-day commemoration for its late leader began with his coffin taken on a gun carriage from Mr Mandela's house to a giant marquee.

Members of the family had attended an overnight vigil, where a traditional praise singer is believed to have chanted details of his long journey and life.

Inside the marquee, Nelson Mandela's portrait stood behind 95 candles, representing one for each year of his life.

His casket, draped in the South African flag, was placed beneath a lectern where speakers paid their tributes. Some guests sang and danced to celebrate Mr Mandela's life as the service began.

After the national anthem, Nkosi Sikelel'I Africa (God Bless Africa) was sung, the service heard from a family spokesman, Chief Ngangomhlaba Matanzima, who thanked the army medical team that had treated Mr Mandela before he died.. "A great tree has fallen, he is now going home to rest with his forefathers. We thank them for lending us such an icon."

Mr Kathrada's voice filled with emotion as he spoke of the difficulty of recent months and of how he had held his friend's hand the last time he saw him in hospital. "Farewell my dear brother, my mentor, my leader," he said.

Two grandchildren then addressed the congregation. Ndaba who read an obituary, and Nandi, who spoke fondly of her grandfather as a disciplinarian. "We shall miss you... your stern voice when you are not pleased with our behaviour. We shall miss your laughter."

Listening to the tributes were Graca Machel, his widow, and his second wife, Winnie-Madikizela Mandela, who sat either side of President Jacob Zuma.

Both women were praised for their love and tolerance, in an address by Malawi's President Joyce Banda.

African National Congress members, veterans of the fight against apartheid and foreign dignitaries - including several African presidents, the Prince of Wales - are among the guests.

Archbishop Desmond Tutu - a long-time friend of Nelson Mandela - is there, having earlier said he had cancelled his flight as he had not received an invitation. US talk show host Oprah Winfrey is also present.

While the service took place, a 21-gun salute sounded far away in Pretoria