The group pushed past officers moments before the casket was closed and Mandela began his final journey back to his childhood home of Qunu, where he will be buried on Sunday.
Crushing disappointment tainted the final day of the lying in state, with tens of thousands of mourners unable to say their personal farewell to the anti-apartheid icon.
Barely two hours after the public was allowed in to view the open-top casket, the government said it would be unable to accommodate the huge numbers still waiting and appealed for people to stay away.
By early afternoon, it was clear that most would never get inside, and people started leaving in sad, dejected droves -- many of them having already been turned away the day before.
"We really thought this was the day. But again we did not get to see the old man," said Lydia More, 31, who got in line at 7:00am.
The South African government said a total of 100,000 people saw Mandela's remains during the three days his body lay in state.
"The third day closed with over 50,000 paying their respects to our national icon," the government, adding to previous tallies.
'The whole of South Africa wants to say goodbye'
Tempers frayed at one of the waiting venues, with mourners pushing back against police who tried to get them to go home.
"It's just not possible," said one police officer who declined to be named. "There are too many people. The whole of the Republic of South Africa wants to say goodbye."
"It's truly a moving event. As you walk past his body, you're overcome with emotion," said Sakib Khan, a British national living in South Africa since 2002.
Mandela's body is scheduled to be taken to Waterkloof air force base early tomorrow morning, for the two-hour flight to Qunu in Eastern Cape province, where he grew up.
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