First lady Michelle Obama met Nelson Mandela in his home in Johannesburg, South Africa, on Tuesday morning.

The first lady is starting a six-day trip to Africa, her second official solo tour since her husband took office.

This was her first meeting with Mandela, although then-Sen. Barack Obama met the former president of South Africa in 2005.

The first lady also toured the archives of the Nelson Mandela Foundation, near Mandela's home, with his wife, Graca Machel. The Foundation aims to document the life and times of Mandela, who served as anti-apartheid activist and  president of South Africa from 1994 to 1999.

The Obamas' two daughters, Malia and Sasha, Michelle Obama's mother, and the niece and nephew accompanying the first lady on her trip were present for the Mandela visit, according to the White House pool report.