Sharma, a senior Indian National Congress party leader was a special invitee of Zuma at his swearing-in ceremony as the President for the second consecutive term, at the Union Buildings here yesterday.
Zuma vowed to spearhead a "radical social economic transformation" to eradicate corruption that has plagued Africa's second largest economy.
After the all-day ceremonial festivities, Sharma who was at one time the Chairman of the Indian Anti-Apartheid Movement, called on President Zuma to hand over a congratulatory message from his party President Sonia Gandhi.
Sharma reaffirmed that the special relationship between the African National Congress that Zuma heads and the Indian Congress party would always continue.
Sharma also assured Zuma that the strategic partnership between the two countries would continue irrespective of which party is ruling in India.
Sharma had also attended the swearing-in of the late peace icon Nelson Mandela, 20 years ago, when he became the first democratically-elected President of the country, after spending 27 years as a political prisoner.