Former South African president Nelson Mandela has died at the age of 95 on Thursday, President Jacob Zuma announced.

"Our beloved Nelson Rolihlahla Mandela, the founding President of our democratic nation has departed," Zuma said. 

The president said that Mandela passed on peacefully in the company of his family around 20:50 p.m. local time (1850 GMT) on Dec. 5.

"He is now resting. He is now at peace," Zuma said, "Our nation has lost its greatest son. Our people have lost a father."

"Although we knew that this day would come, nothing can diminish our sense of a profound and enduring loss," he said, "His tireless struggle for freedom earned him the respect of the world. "

"His humility, his compassion, and his humanity earned him their love," said Mandela. "Our thoughts and prayers are with the Mandela family. To them we owe a debt of gratitude."

"This is the moment of our deepest sorrow. Our nation has lost its greatest son," he said. "Yet, what made Nelson Mandela great was precisely what made him human. We saw in him what we seek in ourselves."

"As we gather to pay our last respects, let us conduct ourselves with the dignity and respect that Madiba personified," he said.

Zuma said that as people gather, wherever they are in the country and wherever they are in the world, they should recall the values for which Mandela fought.

"Let us reaffirm his vision of a society in which none is exploited, oppressed or dispossessed by another," he said.

He called on all South Africans to commit themselves to strive together - sparing neither strength nor courage - to build a united, non-racial, non-sexist, democratic and prosperous South Africa.

"Let us express, each in our own way, the deep gratitude we feel for a life spent in service of the people of this country and in the cause of humanity," Zuma said.

"This is indeed the moment of our deepest sorrow," Zuma added. "Yet it must also be the moment of our greatest determination. A determination to live as Madiba has lived, to strive as Madiba has strived and to not rest until we have realised his vision of a truly united South Africa, a peaceful and prosperous Africa, and a better world."  

"We want to express our sadness at this time. No words can adequately describe this enormous loss to our nation and to the world," said a message from the Nelson Mandela Foundation, the Nelson Mandela Children's Fund and the Mandela Rhodes Foundation published on the nelsonmandela.org.

"We give thanks for his life, his leadership, his devotion to humanity and humanitarian causes. We salute our friend, colleague and comrade and thank him for his sacrifices for our freedom. The three charitable organisations that he created dedicate ourselves to continue promoting his extraordinary legacy," said the message.

Zuma also announced a state funeral for Mandela and ordered all national flags to be lowered to half-mast starting Dec. 6 until after the funeral.

Mandela, who served as President of South Africa from 1994 to 1999, had battled health problems in recent months, including a recurring lung infection that led to numerous hospitalizations.

Mandela was released from hospital in early September following an 85-day stay for a recurring lung infection, the result of his longtime imprisonment during the apartheid times.