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U.S. President Barack Obama, left, greets Cuban President Raul Castro before giving his speech at the memorial service for late South African President Nelson Mandela at the First National Bank soccer stadium, also known as Soccer City, in Johannesburg December 10, 2013. Obama shook the hand of Castro at a memorial for Nelson Mandela on Tuesday, a rare gesture between the leaders of two nations at loggerheads for more than half a century. (KAI PFAFFENBACH/REUTERS)
U.S. President Barack Obama, left, greets Cuban President Raul Castro before giving his speech at the memorial service for late South African President Nelson Mandela at the First National Bank soccer stadium, also known as Soccer City, in Johannesburg December 10, 2013. Obama shook the hand of Castro at a memorial for Nelson Mandela on Tuesday, a rare gesture between the leaders of two nations at loggerheads for more than half a century. (KAI PFAFFENBACH/REUTERS)

World leaders pay tribute to Nelson Mandela at memorial Add to ...

Watch live video and follow Globe correspondent Geoffrey York as he tweets from the memorial service for Nelson Mandela.

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