US president Barack Obama implored thousands gathered in a cold, rainy stadium and millions watching around the world to carry forward Nelson Mandela’s mission of erasing injustice and inequality.

South Africans were praised for the “dignified” way in which they have commemorated the death of Nelson Mandela as the memorial service for the anti-apartheid hero got under way.

Supermarket workers who went on strike for almost three years over the import of goods from apartheid South Africa are set to attend Nelson Mandela’s funeral.