"Tata Nelson Mandela changed the world as we know it," he said in a statement after Mandela's death on Thursday night.

Former president Nelson Mandela left a legacy that will inspire generations to come, University of the Witwatersrand vice chancellor Prof Adam Habib said on Friday.

"Tata Nelson Mandela changed the world as we know it," he said in a statement after Mandela's death on Thursday night.

"He has left a legacy that will benefit and inspire generations to come. He set an example for the rest of the world and created history on his journey through life."

Habib and the university sent its condolences to Mandela's friends and family.

"We must celebrate his humility, his principles, his commitment to justice, peace and freedom during this time and we must never forget the values which he fought so hard [for], which he was prepared to die [for]," said Habib.

"Tata Madiba, we walk in your footsteps, we are guided by your principles, and we live by your humanity."

He said Mandela would remain in everyone's hearts.

"You were of us, but you belonged to the world. You lived amongst us now, but your legacy will inspire for eternity. Hamba Kahle Tata, you are in our hearts."