Britain's Prince Charles, Monaco's Prince Albert II, U.S. television personality Oprah Winfrey, billionaire businessman Richard Branson and former Zimbabwean Prime Minister Morgan Tsvangirai were also there.
After the ceremony in the tent, a smaller group of guests walked to a family grave site.
Bayanda Nyengule, head of the Nelson Mandela Museum in Mthatha and Qunu, was one of the eyewitnesses to the private burial.
“I realized that the old man is no more, no more with us you know,” Nyengule said. “The moment when the coffin went down into the ground I felt too ... emotional.”