Zardari is the first elected President to complete his constitutional tenure and to be replaced by an elected individual in Pakistan's history that has witnessed numerous military coups.
He was given a guard of honour, which was not attended by either the Prime Minister or the three service chiefs.
However, Sharif had hosted an official farewell lunch for Zardari earlier this week and praised him for keeping the flag of democracy flying in the country.
Husband of former Prime Minister Benazir Bhutto, Zardari had a controversial term but was able to keep democracy on track.
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Zardari, as President, remained in the eye of storm for holding dual office and faced allegations of using the President's house for partisan politics and ignoring key issues facing the country.
He faced a strong and assertive judiciary which pursued him over multi-million-dollar corruption cases against him in Switzerland.
Another big crisis for him was the 'Memogate scandal' and also the unilateral US operation in May, 2011, in the garrison city of Abbottabad that killed al-Qaeda chief Osama bin Laden.
While the President's post is largely ceremonial, Zardari, as the chief of the then-ruling PPP, played an active role in the functioning of the government.
However, he later had to give up the party post after pressure from the judiciary.
His detractors blame him for the weak economic and security scenario of the country.