Nelson Mandella met with First Lady Michelle Obama and her daughters on Tuesday. It was an unexpected visit as the former South African president and anti-apartheid icon has mostly retired from public life.

Mandela signed an advanced copy of his new book 'Nelson Mandela By Himself: The Authorized Quotations Book' for Mrs. Obama.

Mrs. Obama was looking through some of Mandela's personal papers with her daughters and her mother at Mandela's foundation when she recieved word that Mandela wanted to meet them at his home in Johannesburg. Mrs. Obama and her family spent about 20 minutes with Mandela and his wife, Graca Machel, who is a former first lady of Mozambique.

The first lady kept her look casual-chic on her two-day visit to South Africa. She wore loose-fitting dress pants and linen dresses. Pictures below.

First Lady Michelle Obama
Michelle Obama’s African visit greeted with criticism. U.S. first lady Michelle Obama (3rd L) stands with daughter Sasha (2nd R), her mother Marian Robinson, and Graca Machel (R), wife of Nelson Mandela, as they listen to Verne Harris as he shows them artefacts from Nelson Mandela's imprisonment during their visit to the Nelson Mandela Foundation in Johannesburg June 21, 2011. REUTERS/POOL New
First Lady Michelle Obama
Michelle Obama’s African visit greeted with criticism. U.S. first lady Michelle Obama (L) walks with Nelson Mandela's wife Graca Machel as she visits the Nelson Mandela Foundation in Johannesburg June 21, 2011 REUTERS/POOL New
Michelle Obama
U.S. first lady Michelle Obama and former South African President Nelson Mandela view his newest book titled "Nelson Mandela by Himself" at his home in Johannesburg, June 21, 2011. REUTERS
Michelle Obama in S. Africa
U.S. First Lady Michelle Obama meets children as she visits the Emthonjeni Community Center in Zandspruit Township, Johannesburg, South Africa June 21, 2011. Reuters
Michelle Obama in S. Africa
Michelle Obama in S. Africa Reuters
Michelle Obama Nelson mandela South Africa Michelle Obama