Members of both Houses observed a two-minute silence as a mark of respect to the anti-apartheid icon, who passed away last week.
Chief Minister Prithviraj Chavan moved a resolution of condolence in the Assembly and hailed the South African leader as the second Mahatma Gandhi.
The 95-year-old Nobel peace prize winner followed the Gandhian way of struggle against the apartheid and was greatly admired across the world for his decades-long fight, he said.
Leader of Opposition Eknath Khadse of BJP supported the resolution and said Mandela followed the principles of non violence and peace in his relentless struggle against a regime based on racial discrimination.
PWD Minister Chhagan Bhujbal, Ganpatrao Deshmukh (Peasants & Workers Party) and Bala Nandgaonkar (MNS), among others, also paid tributes.
The Lower House later adopted the resolution and observed silence in memory of the departed soul.
In the Legislative Council, Deputy Chief Minister Ajit Pawar moved the condolence resolution and Opposition Leader Vinod Tawade (BJP) seconded it.
Ministers Patangrao Kadam, Nitin Raut, Neelam Gorhe of Shiv Sena and Jayant Patil of PWP paid rich tributes to Mandela.
Both Houses were later adjourned for the day.
