As it happened: Nelson Mandela memorial service

Key Points

• Nelson Mandela's official memorial service is being held at Soweto's FNB stadium in front of a huge crowd
• It is one of the biggest gatherings of international dignitaries in recent years, with more than 90 current heads of state or government attending
• To cheers, US President Barack Obama hailed Mr Mandela as the "last great liberator of the 20th Century", but South African President Jacob Zuma was booed
• On his way to the stage, Mr Obama shook hands with Cuban President Raul Castro, a rare gesture of friendship between two deeply opposed nations
• Mr Mandela's body will lie in state in Pretoria from 11-13 December. His state funeral is on Sunday in his Eastern Cape village of Qunu
• All times in GMT