"She made a choice to raise two families, hers and the beloved country", Mandela-Dlamini said.
"Unlike many of those who imagined a contested legacy between my mother and my father we do not have that luxury because they are our parents".
Many South Africans have stood up for Ms Madikizela-Mandela's memory against critics who have characterised her as a problematic figure who was implicated in political violence after she returned from years of banishment in a rural town.
Although Madikizela-Mandela helped usher in a new, more equitable South African political system during her lifetime, she was also entangled in a number of scandals over the years.
"Praising her now shows us what hypocrites you are!"
"You show that we can be lovely, powerful and revolutionary - even as we challenge the lies that have been peddled for so long".
"I was not aware of what she has done for us and I am still shocked after I learned the truth about the extent to which she went to fight for us, - being a black woman in a male-dominated country".
Another mourner, Mpho Moselane from North West, said that even though she was not present during apartheid, Madikizela-Mandela will always be a symbol of how strong a black woman is.
Many memorializing Madikizela-Mandela acknowledged her as a political drive in her personal proper.
The young Madikizela-Mandela grew up in what is now Eastern Cape province and came to Johannesburg as the city's first black female social worker.
He said people are "deeply offended by narratives that tried to portray our Mama as a monster and demon".
Hundreds of people lined the streets of Soweto on Friday to see the funeral procession of Winnie Mandela ahead of her final send-off this weekend.
"We are weeping, but we are not broken".
Ramaphosa said he spoke to Madikizela-Mandela shortly before her death about her concerns and wishes. "We did not do the same for her", Ramaphosa said.
"As we bid her farewell, we are forced to admit that too often as she rose, she rose alone".
Following Makhura was a friend of Madikizela-Mandela only identified as Mrs Mokgobo. "She never stopped serving", he told reporters.
Winnie Madikizela-Mandela's memory must be honoured by a pledge "that we will dedicate all our resources, all our efforts, all our energy to the empowerment of the poor and vulnerable", President Cyril Ramaphosa said.
"You were persecuted by the apartheid regime and disowned by your own", he said, to cacophonous cheers.
"Know that I am here for you".
Zenani Mandela-Dlamini took aim at her mother's detractors while giving a joint tribute with her sister Zindzi Mandela at Orlando Stadium on Saturday.