Iran Press/ America: Pele's coffin was placed in the center of the pitch at the Urbano Caldeira stadium in Sao Paulo, with fans lining the streets to get inside the ground.
The three-time World Cup winner died at the age of 82 on 29 December.
There will be a procession through the streets of Santos to a private family burial on Tuesday at 12:00 GMT.
"We're going to ask every country in the world to name one of their football stadiums with the name of Pele," said FIFA president Gianni Infantino, who attended the memorial.
Brazil's government declared three days of national mourning after Pele's death.
New Brazilian president Luiz Inacio Lula da Silva will travel to Santos, a city in the state of Sao Paulo, to pay his respects as the 24-hour vigil draws to a close.
Pele, arguably the world's greatest-ever player, had been undergoing treatment for colon cancer since 2021.
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Brazilian football legend Pele dies at 82
