The crowd gave him a standing ovation in the chilly South African winter.
"They just make stuff up". I can't find common ground if someone says climate change is just not happening when nearly all the world's scientists say it is.
The event started after the Nelson Mandela Foundation and 46664, a concert series that benefits AIDS victims referencing Mandela's prison number 46664, first proposed the idea of a worldwide day honoring the work and legacy of Nelson Mandela in April 2009.
The leaders were hosted by Nelson Mandela's grandson Chief Zwelivelile Mandela at the anti-apartheid icon's rural home in Mveso in Eastern Cape, South Africa.
"Just by standing on the stage honoring Nelson Mandela, Obama is delivering an eloquent rebuke to Trump", said John Stremlau, professor of worldwide relations at Witwatersrand University in Johannesburg. What appears to be certain is Obama's legacy - perhaps particularly internationally - will be attempting to help people recognize the new world order under Trump is actually not normal.
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With the geopolitical changes came sweeping economic changes, then scientific breakthroughs, new infrastructure, reduction of armed conflicts and "suddenly millions of people were lifted out of poverty", Obama said.
Mandela was imprisoned for 27 years during, and he was freed in 1990.
Obama greets Nelson Mandela's widow Graca Machel as he arrives to deliver the annual lecture.
July 18 marks 100 years since the birth of the late former president in 1918.
Mandela passed away on December 5, 2013 at age 95, but not before becoming known as one of the most prominent and respected civil rights leaders and humanitarians of the modern era.
They also spoke to 92-year-old Andrew Mlangeni, who spent almost three decades in Robben Island prison with Mandela.
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Trump and Putin will meet for their first bilateral summit in Helsinki and will hold a 90-minute one-on-one meeting without aides. The United States has no extradition treaty with Moscow and can not compel Russian Federation to hand over citizens.
Since its beginning in 2003, global leaders have used the lecture to speak about issues affecting South Africa, the continent and the world.
The exhibition has been shown in various forms around the world, including six weeks at the Paris Town Hall in 2013.
It is a "plain fact" that racial discrimination still exists in the US and South Africa, Mr Obama said.
As part of Madiba's centenary celebrations, Lumumba also joined OR Tambo district mayor Nomakhosazana Meth and South African National Heritage Council chief executive officer advocate Sonwabile Mangcotywa during a tree-planting ceremony at the Nelson Mandela Museum in Mthatha before his much-anticipated lecture on Madiba's life at the Walter Sisulu University's Nelson Mandela Drive Campus later in the evening.
The bright red Benz was marked with a plaque announcing it as Mandela's vehicle, sported an engraving of the South African flag, and had a personalised license plate inscribed with "999 NRM GP" - the NRM standing for Nelson Rolihlahla Mandela. Other events are expected during the following week to celebrate his life.
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Russia's foreign minister, Sergey Lavrov enthused afterwards that the summit had gone "fabulously" and "better than super". Putin said he favored Trump in the election, but did not indicate whether he did anything to help him.