Relatives of Nelson Mandela and senior officials have paid respects to the ex-president in Pretoria, where his body is lying in state.
His widow Graca Machel and former President Thabo Mbeki were among those who filed past the coffin, before members of the public were allowed in.
Crowds watched earlier as the coffin was taken in procession from a hospital mortuary to the Union Buildings.
Mr Mandela died last Thursday at the age of 95 and will be buried on Sunday.
His funeral will take place in his home village of Qunu in Eastern Cape province on Sunday.
Tens of thousands of South Africans joined scores of world leaders for a national memorial service on Tuesday as part of a series of commemorations.
Quick convoy
The procession left the city's 1 Military Hospital shortly after 07:00 (05:00 GMT) on Wednesday.
The coffin could be seen inside a black hearse, draped in a South African flag, in a convoy with military outriders and ambulances.
It travelled along Kgosi Mampuru Street and Madiba Street on the way to the Union Buildings.
The convoy sped quickly through the streets, with some people running alongside the military guard, the BBC's Joseph Winter in Pretoria says.
Mr Mandela's remains will make the journey from the military hospital every morning from Wednesday until Friday, the government announced.
"The public are encouraged to form a guard of honour by lining the streets," it said.
Small crowds cheered and sang as the convoy sped past.
"Seeing him passing by was the greatest thing I have ever seen in my life. I just wanted to see him passing for the last time," said one mourner, Grace.
Mr Mandela's coffin was placed under a specially made wooden structure in the grounds of the Union Buildings.
Among those who filed past the body were Mr Mandela's second wife, Winnie, and current President Jacob Zuma.
The morning viewing was reserved for family and officials, with the public allowed in from midday.
The Union Buildings are the official seat of the South African leader, where Mr Mandela was sworn in as the first black president in 1994.
At the memorial service on Tuesday, Mr Zuma announced that the Union Buildings would be renamed the Mandela Amphitheatre.
The crowd listened to Mr Zuma's speech, but sections of the stadium booed when his name was mentioned at other times.
Mr Mandela's grandson, Ndaba, told the BBC that his grandfather would not have been bothered by the booing.
"He is a man of the people and one who respects and understands that the people must express their opinions no matter whether they are with you or against you," he said.
Later, presidential spokesman Lindiwe Zulu said the booing was "humiliating" and those responsible would be "dealt with".