More than 90 world leaders from across the globe traveled to South Africa for Nelson Mandela's memorial service, which was as peaceful as the late South African icon would have wanted it to be.

From Cuba's Raul Castro to Britain's David Cameron to the United States' Barack Obama, everyone gathered to pay respects and reflect on Madiba's strong legacy.

South African president Jacob Zuma said that Nelson Mandela -- who was president from 1994 to 1999 -- had an impact on everyone's life.

"Everyone has had a Mandela moment when this world icon has touched their lives," he said. "He was a fearless freedom fighter who refused to allow the brutality of the apartheid state to stand in the way of the struggle for the liberation of his people."

U.S. President Barack Obama spoke about Mandela just a few days ago while he was in the United States, but on Tuesday he was speaking directly to South Africans who were led by Mandela.

"To the people of South Africa -- people of every race and every walk of life -- the world thanks you for sharing Nelson Mandela with us," Obama said.

"With honesty, regardless of our station or our circumstance, we must ask: How well have I applied his lessons in my own life? It is a question I ask myself -- as a man and as a president. We know that like South Africa, the United States had to overcome centuries of racial subjugation. As was true here, it took sacrifice -- the sacrifices of countless people, known and unknown -- to see the dawn of a new day."

The memorial took place at a rainy stadium in Soweto, the township where Mandela once lived. Despite the unfavorable weather conditions -- although in South Africa rain at a funeral is seen as a blessing -- South African people celebrated Mandela's legacy with songs and dances from the stadium seats.