The Ahmed Kathrada Foundation and the Nelson Mandela Foundation today announced they will jointly continue with the memorial service.
The cancellation came amid national outcries over a dramatic midnight reshuffle of the Cabinet by President Jacob Zuma that saw Indian-origin finance minister Pravin Gordhan and four other ministers fired, many without their knowledge until they read it in the media this morning.
Analysts said the official memorial service organised by the government was probably cancelled for fear of it turning into an anti-Zuma rally, as happened at Kathrada's funeral on Wednesday.
Zuma, who said he would not attend the funeral to comply with the wishes of the family, did not respond to the letter, which got a long-standing ovation and cheers from those at the funeral, including a number of cabinet ministers, some of whom have now been fired by Zuma.
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This afternoon, Kathrada's widow and former minister Barbara Hogan fiercely attacked Zuma's decision to make changes to his cabinet.
Earlier in the day, ANC Secretary-General Gwede Mantashe and the Deputy President Cyril Ramaphosa both said they had disagreed with Zuma over Gordhan's axing as it would have a serious effect on the South African economy.
"The Foundation therefore calls on the leaders and ordinary members of the ANC across the country, leaders and members of the liberation movements; and progressive civil society formations, to build a new consensus that brings together all South Africans demanding accountability and ethical governance.
"We call on Members of Parliament to unite and support a motion of no confidence (against Zuma). We also call on the people of South Africa in their mass formations to take to the streets and make their views known," Balton added.
Kathrada, who was one of Mandela's closest aides, died on March 28 aged 87 at the Donald Gordon Hospital here after complications following a brain surgery.