In a statement, the Mandela family said the proceedings were a "fitting tribute".
"As he lies in peace at the Union Buildings, Madiba would be happy to know he is surrounded by thousands of South Africans, whom he loved and served - or served with - in the prosecution of the just struggle for democracy, and in laying the foundations in 1994 for a non-racial, non-sexist, democratic South Africa," they said.
"We are humbled that millions of South Africans who loved him, stood by him through his trials and tribulations, supported him... can now join us in bidding him farewell."
Correspondents said Mr Mandela's body could be seen through a glass screen, dressed in one of his trademark patterned shirts.
At each end of the casket stood two navy officers clad in white uniforms, with their swords pointing down.
Some mourners stopped briefly to pray, while a number of people reportedly fainted.
Among the dignitaries to file past were former President FW de Klerk, Mr Mandela's ex-wife Winnie Madikizela-Mandela and musician and activist Bono.
The U2 singer accompanied Mr Mandela's long-time aide Zelda Le Grange.
Meanwhile tens of thousands of South Africans attended a free concert in Cape Town on Wednesday to celebrate Mr Mandela's life.
Soldiers help a woman who collapsed after filing past the casket
Singer Annie Lennox was among those who performed in tribute to the anti-apartheid leader.
'Beautiful smile'
The former captain of the South African rugby team, Francois Pienaar, also paid his respects to the former president.
"I will never forget how proud Madiba was and his beautiful smile," he said.
"A herd boy became one of the greatest leaders the world has even seen. From prisoner to president."
World leaders joined tens of thousands of South Africans at a huge memorial memorial service on Tuesday in Johannesburg as part of the commemorations leading up to the funeral.
After Mr Mandela's body has lain in state for three days, the military will fly him to the Eastern Cape from Air Force Base Waterkloof in Pretoria.
A military guard of honour will welcome the arrival, and the coffin will then be placed on a gun carriage and transported to a hearse.
Mr Mandela's body will then be taken to his home village of Qunu, where the Thembu community will conduct a traditional ceremony.
A national day of reconciliation will take place on 16 December when a statue of Mr Mandela will be unveiled at the Union Buildings.
Big screens have been set up across South Africa to show the planned national events.
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