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.

Tens of thousands of spectators have braved foul weather to join heads of state from around the world in celebrating the life of Nelson Mandela in South Africa.

Joyous, singing South Africans gathered in the rain today to honour Nelson Mandela at a massive memorial service that is expected to draw some 100 heads of state and other luminaries, united in tribute to a global symbol of reconciliation.