Daughter Patti Davis, dressed in black, greeted about 20 family members and close friends upon arrival at a Santa Monica mortuary where a 20-minute service was presided over by the Rev Stuart Kenworth.
Attendees included the children of Ronald Reagan's son Michael and Dennis Revell, the widower of the former president's late daughter Maureen.
Nancy Reagan's casket was then carried by pallbearers that included members of her Secret Service detail to a hearse to begin her final journey, a 45-mile drive to the hill country of Simi Valley northwest of Los Angeles where two days of public viewing will precede the funeral.
Several hundred onlookers stretched along the boulevard leading away from the Tudor-style funeral home in Santa Monica, holding up cellphones and cameras to capture photos of the moments.
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The procession included a lengthy stretch of the Ronald Reagan Freeway, a state route named in her husband's honor in the 1990s.
"She was just a very classy woman, always," said Jeanie Maurello, a medical assistant at Providence St. John's Health Center. "I thought she did a wonderful job. 'Just Say No' to drugs, she was behind all that."