Mandela died Thursday at age 95.
After the stadium memorial on Tuesday, Mandela's body will lie in state at the Union Buildings, the seat of government in South Africa's capital, Pretoria, from Wednesday to Friday.
He will be buried Sunday in Qunu, the Nobel Peace Prize laureate's rural hometown in Eastern Cape Province.
South Africa's parliament held a special session Monday in honor of Mandela.
Kgalema Motlanthe, the country's deputy president and a member of Mandela's African National Congress political party, opened the proceedings with a speech describing how the icon's death caused a “sweeping feeling of sorrow” around the world.
“He belongs to all humanity,” Motlanthe said. He added: “Mandela's ideals saturate the face of the Earth.”
Helen Zille, the leader of the opposition Democratic Alliance political party, said South Africa inherited “an enormous responsibility” from Mandela to ensure everyone had “freedom you can use.”
