Munde, a sitting member of Lok Sabha, died in a road mishap here on June 3 at the age of 65.
Born in December 1949, in Beed district of Maharashtra, he had also served as a member of the 15th and 16th Lok Sabha.
"In the passing away of Shri Gopinathrao Munde, the country has lost an able administrator and a distinguished parliamentarian," Ansari said in an obituary reference.
Ansari also mourned the death of Bhuvnesh Chaturvedi, who died in March at the age of 85.