Nanabhai, 78, who passed away on Saturday due to respiratory failure, was lauded by leading political figures at a memorial service before his cremation here.
Nanabhai, who was one of the first South Africans to volunteer for the ANC armed wing Umkhonto we Sizwe to fight against apartheid, was honoured with the National Order of Mendi for Bravery in 2014 by President Jacob Zuma.
Born into a family steeped in struggle politics, Nanabhai's father Jasmath fought against British rule in India before migrating to South Africa in the early 19th century.
He served ten years on Robben Island alongside Nelson Mandela and others as well as lengthy terms of house arrest after being released.
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Both the Premier of Gauteng province, in which Nanabhai's hometown of Lenasia is based, and national Minister of Finance Praveen Gordhan called for the principles espoused by Nanabhai and his erstwhile compatriots to be reintroduced to address the challenges facing South Africa today.
"Shirishbhai was a fine, dignified, humble and committed servant of the ANC and of our democracy. His values must continue to serve to inspire the young and old people of South Africa," Gordhan added.
"We have to summon the courage of Comrade Shirish today as we lay him to rest to ensure that the ANC (in government) remains the voice of the people. That generation of fighters has taught us that the nation comes first," Makhura said.