His widow, Graca Machel, and President Jacob Zuma were present for the private, traditional Xhosa burial at Mr Mandela’s ancestral home in Qunu.
Mr Zuma had earlier told the larger funeral service that South Africans had to take his legacy forward.
Mr Mandela died on 5 December aged 95.
The last of 10 days of commemorations for Mr Mandela began with his coffin being taken on a gun carriage from his home to a giant marquee where his portrait hung behind 95 candles – each representing a year of his life.
The coffin, draped in the South African flag, was placed beneath a lectern where speakers paid their tributes.
Some guests sang and danced to celebrate Mr Mandela’s life as the service began.