Stevie Wonder was joined on stage for the finale by all the concert's performers and actors including Morgan Freeman, Forest Whitaker and Susan Sarandon singing Wonder's hit "Happy Birthday" while the Soweto Gospel choir sang throughout the three-hour concert.

Mandela, who is very frail, was not at the "Mandela Day" concert as he has been advised he should no longer travel internationally but he delivered a video message.

"Our struggle for freedom and justice was a collective effort. Mandela Day is no different," he said. "It is our hope that people will dedicate their time and effort to improve the conditions within their own community."

President Barack Obama also delivered a message via video, saying Mandela's life taught people to have courage.

"From New York to Cape Town, people are celebrating this extraordinary man," Obama said. "The story of his life can be summed up in Nelson Mandela's own words, 'It always seems impossible until it's done.'"

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