The ceremony closed the mourning period, according to Zindzi, Mandela's daughter from his second marriage with Winnie Madikizela-Mandela, while local television reported that revellers slaughtered sheep and quaffed home-brewed beer.
The ceremony also included the burning of the black mourning garb worn by her mother and Mandela's third wife Graca Machel, Zindzi Mandela said in a statement.
South Africa's first black president died on December 5 at the age of 95 after a long illness, prompting a global outpouring of grief.
The traditional mourning period normally lasts 12 months in South Africa.