"On his release he exhibited an inspiring ability to put his own his sacrifices and hardship behind him. When he could have chosen bitterness and revenge, he chose instead forgiveness and reconciliation."
Mr English said Mandela's character allowed him to transcend the economic and political tensions of post-apartheid South Africa.
When he met the then-President Mandela in 1995, "we all experienced his incredible ability to make you feel as if the privilege of meeting was all his"
Mr English emphasised the importance of New Zealand's protests during South Africa's apartheid struggle - Mandela's death was an opportunity "to acknowledge those New Zealanders that have proved to have been right".
"The conflict that occurred in New Zealand over sporting contact with South Africa was, as those New Zealanders asserted at the time, about more than a right to watch sport."
He added: "Nelson Mandela's passing will cast a long shadow but his place in history is unassailable."
Labour deputy leader David Parker described Mandela as "one of the world's greatest leaders, certainly in my life time".
"It is hard to imagine a more worthy recipient of the Nobel Prize, a honour which ... was properly accorded him in 1993."
Mr Parker said "only a giant" could endure 27 years in prison and then seek reconciliation instead of revenge on his release.
"Through the decades of his incarceration, the black and coloured majority were subjugated... second class citizens in their own land.... Mandela's indomitable spirit was in inspiration not just to millions in South Africa but billions around the world."
He noted that his party, led by Norman Kirk at the time, fought against apartheid by supporting economic sanctions and opposing sporting contact.
Mr Parker said it was unlikely that Mandela would care for "fine words" after his death, and the best way to pay respect was with action, in particular on eradicating poverty.
