Even from its inception, the building long has been considered a symbol of governance in the country—and of apartheid until Mandela took office.
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 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.”