Established in 2009, the day is meant to encourage South Africans to emulate Mandela's humanitarian legacy and recognize the decades he spent fighting apartheid.
All over the country, volunteers handed out blankets and books, distributed toys at orphanages, and cleaned up public areas, before reporting their activities on social media. His former wife Winnie Madikizela-Mandela held a lunch for elderly, needy women at the Mandela family restaurant near the family's home in Soweto, which is now a museum.
Dozens of elderly women wrapped in coats and scarves against the crisp winter weather filled a marquee set up on a cordoned off road.
"It makes me happy but it reminds me of the past, of the apartheid years," said Elizabeth Khoba, 77, who had just received a fleecy purple blanket. She lived near the late statesman and remembered him "as a very tall chap" who would chide misbehaving children in the neighborhood.