Speaking at the high commission in Canberra just hours after the death was announced of the former President, he said Mr Mandela's legacy on his nation was profound.

“South Africa will always be guided by the beliefs and principles that Nelson Mandela inspired," he said.

“His legacy is a great man who led his country, who sacrificed so much, for justice, for freedom, for democracy."

The high commission, situated near Parliament House, is flying its national flag at halfmast on Friday, and will open a condolences book on Monday.

Mr Sithole is acting High Commissioner while the High Commissioner, Ms Koleka Anita Mqulwana, is in South Africa.

He said his meeting with Mr Mandela inspired him to have confidence to achieve change.

"As a young person growing up in South Africa, I was inspired by his leadership, inspired by the hope and the confidence that he demonstrated, not just in himself but also in the whole nation, a nation that was coming out of a history of years of colonisation and apartheid and into renewal as a democratic South Africa," he said.

"It inspired me with the hope and the confidence that, despite the circumstances we might find ourselves in at a particular stage in history, there will always be hope for a better life, there will always be hope for change, for positive things to happen to people, irrespective of their background or their culture, their race, there will always be that confidence and that hope that things will be better for people."

Mr Sithole studied international relations at the University of Pretoria and has served in several other countries before becoming deputy high commissioner in Canberra a year ago.

"The bilateral relationship between South Africa and Australia has gone from strength to strength since 1994, it was there even before 1994 but it has grown in leaps and bounds since then," he said.

"Canberra is a beautiful place, it is a beautiful young city, a green city."

The high commission was the focus of protests during the apartheid era, particularly during the flashpoint 1971 tour by the all-white Springboks rugby union team.