Harare - There was drama when Zimbabwe's commissioner of police, Augustine Chihuri, step forward to pledge his allegiance to the new president, Emmerson Mnangagwa.
The crowd booed Chihuri, drowning his voice and chanting that he must go. Chihuri was believed to have sent police to terrorise opponents of the Mugabe regime.
Video: Botho Molosankwe
On Tuesday Mugabe stunned the world by resigning, paving way for Mnangagwa to take over.
President Ian Khama of Botswana was among the heads of state who attended the inauguration ceremony.
Earlier this week Khama said he did not feel any sympathy for Mugabe as he had not shown Zimbabweans any sympathy.
The presidents of Zambia and Namibia, as well as former Ugandan president Kenneth Kaunda, were also in attendance.
South Africa's Speaker of Parliament Baleka Mbete and Communications Minister Siyabonga Cwele attended the inauguration.
Immediately after Mnangagwa was sworn in crowds inside the stadium erupted into wild shouting, clapping and cheering.
The crowds went wild as a ceremonial chain of office was put on around his neck and the green and red sash that used to belong to Mugabe was placed on him.
Mnangagwa also acknowledge the head of the military, Constantino Chiwenga.