A People's Tribute to the Queen, held on the waterfront of Franklin's hometown Detroit, ended with a mass performance of her anthem Respect.
Former president Bill Clinton and Smokey Robinson are among those due to address her six-hour, invitation-only funeral at the Greater Grace Temple. The church where she got her start as a gospel singer, New Bethel is where Franklin's father was the longtime pastor and where she learned the gospel fundamentals that would make her a soul institution.
Franklin, 76, died on 16 August.
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The American and world acclaimed singer's body lay in repose for a final day on Thursday in the New Bethel Baptist Church, where Aretha began her career as a child singing gospel in this church in Detroit.
The street outside Greater Grace will be lined with pink Cadillacs - a nod to Franklin's funky '80s tune, "Freeway of Love", which prominently featured the vehicle in the lyrics and video.
Her grandchildren spoke briefly, delivering heartfelt thanks on behalf of their family. The church also hosted Rosa Parks' funeral in 2005, at which Franklin sang.
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As she retrieved her bags from the auto, Chaka revealed that despite having been a working musician for more than 30 years, she's still nervous "as hell" to sing at Franklin's funeral.
"I think she's wonderful and I know that the spirit of God that's in her is what brought all of us here". On Monday, she wore a lace red dress with matching Christian Louboutin leather pumps, switching into a blue sparkly dress with open-toed silver shoes on Tuesday.
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