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It has been placed in the Our Lady Undercroft in the Crypt where visitors can leave messages.
A picture and candle have also been placed in the Corona Chapel.
The Archbishop of Canterbury Justin Welby paid a prompt tribute on Twitter to the former President of South Africa shortly after his death.
He said: "Nelson Mandela, fighting to the end, is freed to be with his God in joy and reward for his great service and sacrifice."
He later released a statement, adding: "The death of President Nelson Mandela was announced in memorable words by President Zuma.
"South Africa has lost its greatest citizen and its father. We pray for his family, for his friends and for his country.
"We are challenged to show the same degree of humanity, of courage and of generosity."
Mandela's fight against the country's apartheid regime led to him being imprisoned for 27 years.
He was released in 1990 and became South Africa's first black president in 1994.
Ten days of mourning will culminate with his state funeral next week and is expected to be attended by world leaders.
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