Mandela family members, his wife Graca Machel, his former wife Winnie Madikizela-Mandela and Zuma all attended the viewing on Wednesday.
Other world leaders were expected to pass by his coffin.
Each day, Mandela's coffin will be driven back to 1 Military Hospital to be held overnight.
Authorities have asked the public to line the street as an honor guard for each trip.
Mandela's body will be flown Saturday to Qunu, his home in the Eastern Cape Province.
He will be buried on Sunday.
On Tuesday, world leaders including U.S. President Barack Obama eulogized Mandela.
In his speech, Obama called Mandela “the last great liberator of the 20th century.”
“We will never see the likes of Nelson Mandela again,” Obama said. “But let me say to the young people of Africa, and young people around the world—you can make his life's work your own.”
