The service was held at the University of Johannesburg’s Soweto campus yesterday.
Minister of Arts and Culture Nathi Mthethwa also paid his last respects.
Family, friends and fans of the veteran actor said they will miss his joy, laughter and open heart the most.
Dube said although his passing is sad, the day is about love and humility.
“You know what, Maya Angelou said you will never forget how a person made you feel. Joe made us feel good about ourselves, that’s what I’m going to remember.”
Mafela died earlier this month in a car crash on the M1 Highway in Joburg.
His family have also paid tribute to Struggle icon Ahmed Kathrada, whose funeral was also yesterday. Both Mafela and Uncle Kathy were laid to rest at Westpark Cemetery.