Nandi Mandela speaks at her grandfather's state funeral in Qunu

Former president Nelson Mandela was a strict grandfather, his granddaughter Nandi Mandela said at his state funeral in Qunu on Sunday.

"He was a disciplinarian who prepared us to be better people in our lives with or without him," she said.

"He was driven by common decency."

Nandi Mandela was delivering a tribute on behalf of Mandela's children and grandchildren.

She said her grandfather was a lot of fun to be around, was a great story teller and had a great sense of humour.

She recalled stories he had told his family about his childhood.

"He laughed heartily as he reminisced about his childhood days.

"We shall miss your voice, we shall miss your laughter," Nandi said.