Both women were praised for their love and tolerance, in an address by Malawi's President Joyce Banda.
Archbishop Desmond Tutu - a long-time friend of Nelson Mandela - also attended the funeral.
During the ceremony, Nelson Mandela was referred to as Dalibhunga - the name given to him at the age of 16.
Mourners were seen wearing traditional Xhosa regalia, with blue and white beaded head gear and necklaces.
Thembu community, of which Nelson Mandela is a member, conducted a traditional Xhosa ceremony - including songs and poems about Nelson Mandela's life and his achievements.
Talk show host Oprah Winfrey and business mogul Richard Branson were also among the attendees.