Police motorbikes escorted the white Mercedes hearse carrying Mugabe's body from Singapore Casket, a funeral parlour where he had been kept since his death.
His health deteriorated after he was toppled by the military and former loyalists, ending an increasingly tyrannical rule that sent the economy into ruin.
Mugabe, an ex-guerrilla chief who took power in 1980 when the African country shook off white minority rule and ruled for decades, died on Friday at a hospital in Singapore.
Zimbabweans have been divided over how to mourn a former leader once hailed as a liberation hero but who later brutally repressed his opponents.
"After several meetings, the family has told government that the final decision lay with the relatives who are in Singapore and will accompany Mugabe's body back home", a family source revealed.
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Former Zimbabwe president Robert Mugabe's body will lie in state at two different stadiums in the capital city for three days, the information minister said Monday, but she did not announce where he would be buried on Sunday.
Zimbabwe's Vice President Kembo Mohadi was seen arriving at the funeral parlour on Tuesday afternoon, and a Zimbabwe state newspaper said his body would return to the country on Wednesday.
The official funeral will be held on Saturday at the giant 60,000-seat National Sports Stadium in Harare and foreign leaders are expected to attend.
According to Leo, Mugabe was a chief hence he would be buried according to traditional rites. "This is a cultural thing and nobody can push the chiefs to divulge where they are going to bury [Mugabe]", he said.
Though no one is disputing his national hero status, questions are still being raised on where he will be buried - the national Heroes' Acre or his home at Kutama.