It was later taken to Mr Mugabe's Harare villa, known as the Blue Roof, where family and supporters gathered to mourn. His body was received by that country's head of state, Zimbabwean President Emmerson Mnangagwa, and a host of other dignitaries.
"As his immediate family, we have also observed with shock that the Government of Zimbabwe is attempting to coerce us to accept a programme for the funeral and burial of the late Robert Gabriel Mugabe which is contrary to his wishes on how he wished to have his mortal remains interred".
Leo Mugabe said later there was no feud, claiming only that the funeral would be private for family members only.
Zimbabwe's first president, Robert Mugabe, will be buried "sometime next week", a family spokesman told Reuters on Thursday.
Mugabe, whose autocratic rule ended in a military coup in 2017, died last week aged 95.More news: US Democrats pressure Republicans by advancing gun control bills
Mnangagwa and the ruling Zanu-PF party want Mugabe buried at a national monument to heroes of the liberation war against white minority rule.
Mr Mugabe's family says his body will be displayed in his home village of Kutama on Sunday night, and will be buried at a private ceremony.
"An icon of pan Africanism, the man that created our nation, the man that led us to this day has left us".
This, he claimed, is only due to the fact that the procession will be rooted in the former Zimbabwean leader's cultural traditions.
The news about discussions between the president and Mugabe's widow came after the family blasted the government for not consulting them over the funeral and burial planes.More news: Supreme Court allows broad enforcement of Trump asylum rule
In the meantime, mourners will pay their respects to Mugabe's coffin at a stadium in Harare today.
The presidential guard await the arrival of the body of former president Robert Mugabe at his official residence in the capital Harare.
It had always been expected that Mugabe would be buried at Heroes' Acre, a monumental burial location atop a prominent hill featuring a grandiose towering sculpture of guerrilla fighters that Mugabe built with help from North Korea.
Grace Mugabe is expected to stay beside the casket the entire time.
Mr Mugabe's family is said to be bitter over him being ousted by his former ally Mr Mnangagwa two years ago.More news: These are the first apps to take advantage of the Galaxy Fold
Mr Mugabe was Zimbabwe's first leader after the country became independent in 1980.