Mukherjee paid tributes to Yadav at a prayer meeting through an audio visual and recalled his association with 'DP', as he was affectionately known among peers.
Janta Dal (United) president Sharad Yadav spoke of the former minister's simple lifestyle.
"He still had a lot to give to the society. It is sad that he left us. I had very close relation with him.... He would come to Parliament on a scooter and lived in a normal house, but I never saw him worried," said Yadav.
"His passing away was untimely, we need people with his sort of ideologies and patriotism today. I pray to Allah that he gives strength to his family," said Kidwai.
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Congress spokesperson Shakeel Ahmed conveyed heartfelt grief on behalf of the All India Congress Committee and himself.
Bhishma Narain Singh, former governor of Assam and Tamil Nadu, recalled Yadav possessing fine qualities of liberal character, simple living, high thinking and honesty.
"When hearts are filled, words subdue," said the former governor.
BJP member of parliament Hukumdeo Narayan Yadav, who had a very long association with the former union minister, preferred to speak in his native language Maithili in which both would converse when they met.