Mr Nicholas, whose services draw followers from as far away as Te Puke and Gisborne, was honoured to be part of a 12-strong group chosen to represent his church, community and country.
"It's very exciting to be part of a historic moment and it's great that we have been invited to go over," he said. "It's just a momentous occasion to go and celebrate 50 years of freedom. It'll be an honour to perform our haka for so many people.
"Part of our haka is going to be honouring Dr Luther King and the 'I Have a Dream' speech, another part is about serving God and our finishing haka will be Ka Mate."
The group travelled to Auckland on three successive weekends to practise for the event, expected to be watched on the BBC by an estimated 75 million people in more than 200 countries.
Iwi represented within the group include Ngati Kahungunu, Te Arawa, Tuwharetoa, Tuhoe, Ngati Porou, Ngapuhi, Ngati Awa, Ngati Raukawa, Ngai Te Rangi, Te Rarawa and Tainui.
US President Barrack Obama and former presidents Bill Clinton and Jimmy Carter were to speak, and ring bells a half-century to the minute after Dr King's address.
Congressman John Lewis, who spoke at the 1963 March on Washington, will also be among the speakers, as will Oprah Winfrey, Oscar and Grammy Award winning entertainer Jamie Foxx and Lynda Johnson Robb, daughter of ex-president Lyndon Johnson.