The New Moti Bagh palace here reverberated with hymns and prayers as thousands of people gathered to pay tributes to Kaur.
Apart from Manmohan Singh, Union minister Vijay Sampla, SAD President and former Punjab Deputy Chief Minister Sukhbir Singh Badal and senior Congress leader Ghulam Nabi Azad, were among those who offered the 'Antim Ardas'.
Other notable personalities who attended the ceremony included leader of opposition in the Punjab Vidhan Sabha and AAP MLA Sukhpal Singh Khaira.
Religious leaders led the ceremony, marked by a 'kirtan'.
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With the demise of the Rajmata, who passed away on Monday after prolonged illness, an era has come to an end, members of the erstwhile royal family of Patiala said at the ceremony.
Many recalled her immense contribution to the welfare of refugee girls following the partition of the country in 1947, saying it was her charisma and humanitarian approach that had led then Prime Minister Jawaharlal Nehru to entrust her with this important and delicate task.
Her exemplary contribution to the empowerment of women and in providing succour to the poverty-stricken sections of the society was a source of inspiration to leaders of the modern times, he said.
As a person who loved people, Rajmata gave more importance to public concerns than to material gains, said Azad, who also conveyed to Capt Amarinder and his family the condolences of Congress president Sonia Gandhi and vice president Rahul Gandhi.
Khaira said the loss of a mother was an irreplaceable loss as no other human being could replace this relationship.
Union Minister of State and Punjab BJP chief, Vijay Sampla, while conveying the condolences of Prime Minister Narendra Modi and party chief Amit Shah, said the Rajmata was a pious soul and a great social reformer, who was far ahead of her time.
SGPC chief Prof Kirpal Singh Badungar described her as an ideal mother and a great personality who spent her life for the welfare of the people.
Expressing gratitude to the people for sharing their heartfelt condolences, Amarinder described Rajmata's demise as not only a personal loss to the family but also to the region and its people.
Rajmata Mohinder Kaur with her progressive outlook, was committed to women empowerment, besides helping the needy and poor with her philanthropic and social activities, he said.
Born in 1922 at Ludhiana during erstwhile undivided Punjab Mohinder Kaur, the wife of late Maharaja Patiala, Yadavindra Singh, passed away on July 24, 2017 after prolonged illness.
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