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The archbishop said: "Ultimately, we are all mortal. At some stage or another, we all have to die, and we have to move on, we have to be recalled by our Maker and Redeemer. We have to create that space for Madiba, to come to terms within himself, with that journey."
On Tuesday, Makgoba visited Mandela and offered a prayer in which he wished for a "peaceful, perfect, end" for the anti-apartheid leader, who was taken to the Pretoria hospital to be treated for what the government said was a recurring lung infection.
In the prayer, he asked for courage to be granted to Mandela's wife, Graca Machel, and others who love him "at this hard time of watching and waiting," and he appealed for divine help for the medical team treating Mandela.
Visitors to the hospital on Wednesday included Mandela's former wife, Winnie Madikizela-Mandela. The couple divorced in 1996.
Mandela, whose 95th birthday is on July 18, served a single five-year term as president and afterward focused on charitable causes, but he withdrew from public life years ago and became increasingly frail in recent years. He last made a public appearance in 2010 at the World Cup soccer tournament, which was hosted by South Africa. At that time, he did not speak to the crowd and was bundled against the cold in a stadium full of fans.
On April 29, state television broadcast footage of a visit by Zuma and other leaders of the ruling party, the African National Congress, to Mandela's home. Zuma said at the time that Mandela was in good shape, but the footage — the first public images of Mandela in nearly a year — showed him silent and unresponsive, even when Zuma tried to hold his hand.
"Let's accept instead of crying," said Lucas Aedwaba, a security officer in Pretoria who described Mandela as a hero. "Let's celebrate that the old man lived and left his legacy."