Nelson Mandela's Final Journey Begins As His Coffin Leaves His Johannesburg Home; UK PM PAY-TRIBUTE.

NELSON MANDELA has begun his final journey after his body was taken from his home in a coffin covered with a South African flag.

JOURNEY: Nelson Mandela's body leaves his home for the final time as it is driven to a military hospital in Pretoria [PA]

South Africa has begun a period of official mourning for the former president who helped to reunite a nation that was bitterly divided by racial segregation.

Mandela, known as Madiba to most South Africans, passed away at home in Johannesburg at 8.50pm on Thursday, surrounded by his family and friends.

His body was moved to a military hospital in Pretoria this morning and is reportedly under armed guard.

Flags are flying at half mast around the world while Mandela is taken to lie in state for three days in the capital Pretoria.

TRIBUTE: David Cameron has been one of many world leaders to pay tribute to Mandela [AP]

SIGN: The PM signs the book of condolence for Mandela in central London [PA]

South African embassies across the world have laid out books of condolences for people to sign in tribute to one of the most famous men of the twentieth century.

This morning David Cameron was among the first to sign a book of remembrance in London.

He wrote: "Your cause of fighting for freedom and against discrimination, your struggle for justice, your triumph against adversity - these things will inspire generations to come.

"And through all of this, your generosity, compassion and profound sense of forgiveness have given us all lessons to learn and live by."

The prime minister ended his message with the quote: "Blessed are the peacemakers for they shall be called the children of God."

FLOWERS: Wreaths have been laid out across South Africa for the former president [AP]

After signing the book Mr Cameron said: "He lived this extraordinary life of belief in this simple principle - fighting discrimination."

The PM added that his own memories of Mandela were of a man "who had a wonderful sense of humour".

Over SIX MILLION tweets of tribute have been posted as people take to Twitter to share their own memories and condolences to the iconic Mandela.

Earlier today the Queen announced she was "deeply saddened" to learn of the former South African leader's death, saying Mandela had "worked tirelessly for the good of his country".

HALF MAST: The Union Jack flies at half mast on top of Parliament today [EPA]

CELEBRATION: The people of South Africa have taken to the street to celebrate Madiba's life [EPA]

"Her Majesty remembers with great warmth her meetings with Mr Mandela and sends her sincere condolences to his family and the people of South Africa at this very sad time," read a statement from Buckingham Palace.

Crowds have gathered throughout South Africa to celebrate the life of Mandela.

Hundreds of people descended on Victor Verster prison in Cape Town, where Mandela was released from captivity in 1990.

Wreaths and messages have been left outside the jail.

One read: "We'll miss you Madiba - may your spirit soar like an eagle." A Daily Star report.