A soaring rendition of The Lord’s Prayer moved thousands of mourners at the funeral of US civil rights pioneer Rosa Parks today, with a preacher bidding: “Mother Parks, take your rest.”

Rosa Parks’ body has been returned to the city she called home, with thousands waiting in a line more to pay their final respects to the US civil rights leader.

Rosa Parks, who died on Monday, will become the first woman to receive one of America's highest tributes.