Leo Mugabe, the late president's nephew, told Reuters the burial ceremony would be private, without saying where it would be.
"We have also observed with shock that the government of Zimbabwe is attempting to coerce us to accept a programme for the funeral and burial of the late Robert Gabriel Mugabe which is contrary to his wishes on how he wished to have his mortal remains interred".
The government had earlier stated that Mugabe would be buried at the Heroes' Acre state monument, a burial place reserved for top officials of Zimbabwe's ruling ZANU-PF party who contributed to ending white colonial rule.
Zhuwao said Mugabe gave specific instructions to his wife and children on how and where he would be buried. "His body will lie in state at Kutama on Sunday night".
The casket is to be taken to Rufaro Stadium in Harare's poor Mbare neighbourhood and then to Zvimba, Mugabe's birthplace 85 kilometres northwest of the capital, where it is expected to stay overnight.
Mnangagwa visited Mugabe's mansion Thursday, viewing the casket and paying respects to the former president's widow, Grace.
China and Trump Exchange Goodwill Gestures on Tariffs
Section 301 tariffs, beginning previous year in July and August with a 25% levy on about $50 billion of U.S. imports. President Donald Trump is postponing tariffs on $250 billion in Chinese goods as a "gesture of good will".
UK Conservatives retain large lead over Labour, according to poll
In the early hours of yesterday morning, Mr Johnson lost his second bid for a snap general election amid angry scenes in the Commons.
Scottish court ruling: Johnson's prorogation 'unlawful'
The court heard the prime minister was sent a note on 15 August asking if he wanted to prorogue parliament from mid-September. Downing Street said it was disappointed by the ruling and that the prorogation of Parliament had been "legal and necessary".
However, it seems some family members want to follow Zimbabwean tradition and bury Mugabe at his home village of Kutama.
The EFF was one of the first South African political parties to send its condolences to the Mugabe family hours after the news of the former president's death was announced on Friday, 6 September. "The decision should be clear, he should go to the national shrine", he told the BBC.
Some family members are still bitter over Mugabe's ouster and the role played by Mnangagwa, a long-time ally from their days as guerrilla fighters who eventually turned against him.
It had always been expected that Mugabe would be buried at Heroes' Acre, a monumental burial location atop a prominent hill featuring a grandiose towering sculpture of guerrilla fighters that Mugabe built with help from North Korea.
"Such an icon, one whose funeral service is going to be attended by nearly 50 current and former heads of state".
Mugabe hoisted the new Zimbabwe flag and lit the independence flame on April 18, 1980 - bringing hope for a new era after a long insurgency.