Among his visitors was South African President Jacob Zuma who presented Mr Mandela with a gift.
Millions of school children across South Africa sang Mr Mandela a special birthday song before their lessons.
Mr Mandela's wife, Graca Machel, visited a community centre near their family home in the village of Qunu to join in the singing.
Those gathered in Qunu for the celebrations were also entertained by a brass band. Mr Mandela was said to be in good spirits. Earlier this year he was hospitalised with a respiratory infection.
