Nelson Mandela's has pulled out of the World Cup opening ceremony after his great-granddaughter died in a car crash.

Zenani Mandela, 13, was killed on the way home from last night's Soweto concert heralding the launch of the tournament, the Nelson Mandela Foundation said.

Mr Mandela's former wife, Winnie Madikizela-Mandela, who was also a passenger in the vehicle, was taken to hospital after the car overturned on a highway near the centre of Johannesburg.

Police were unable to confirm whether Mrs Madikizela-Mandela was injured but the foundation said that no one else had been hurt.

The driver was arrested and police are investigating a case of "culpable homicide", a common procedure in South Africa where possible negligence is an issue.

Zenani, who celebrated her 13th birthday on June 9, was the granddaughter of Nelson and Winnie Mandela's daughter Zindzi.

The former South African president is in Johannesburg due to appear as the guest of honour at the tournament's opening ceremony at the Soccer City stadium in front of an expected worldwide television audience of more than a billion people.

His presence at the first football World Cup to be held on African soil is held as highly symbolic.

The former ANC leader, who will be 92 next month, is so frail that he has not made a public appearance since February.

It is not known whether the tragedy will now put Mr Mandela's appearance at the event in doubt.

His family have said that would then leave the stadium to watch the opening game between South Africa and Mexico “in peace and quiet” and will avoid the ear-splitting din of the vuvuzela horns which have given the tournament its unique sound.

The foundation said: "Zenani Mandela, 13, was travelling in a car returning from the World Cup kick-off concert at Orlando Stadium when the accident occurred.

"There was only one car involved and no one else was injured.

"She was the granddaughter of Zindzi Mandela, daughter of South Africa's first black president.

"Zenani, who celebrated her 13th birthday on June 9, was the eldest child of Zoleka Seakamela and one of Mr Nelson Mandela's nine great grandchildren.

"The family has asked for privacy as they mourn this tragedy."

Last night's pre-tournament concert featured a host of international stars including the Colombian pop star Shakira and the US chart-toppers The Black Eyed Peas.

Jacob Zuma, the current South African president, also took to the stage and thanked South Africans for the welcome they have given World Cup fans, and called on them "to show the warmness for the whole duration of the tournament".