Emmerson Mnangagwa has been inaugurated as Zimbabwe's new President.
Former defence chief Mr Mnangagwa is just the second president in independent Zimbabwe's 37-year existence.
Mr Mugabe had sacked the incoming leader as vice president, leading the country's army to move against him.
Mr Mnangagwa was a key Mugabe confidant for decades until they fell out because of the presidential ambitions of Mr Mugabe's wife, Grace. Despite his long association with the government, Mr Mnangagwa has promised democracy.
Please allow a moment for the live blog to load
Emmerson Mnangagwa has assured Robert Mugabe and his family of their "maximum security" as they remain in the country, according to local media.
The two former allies also agreed Mr Mugabe, who ruled Zimbabwe for 37 years, would not attend today's swearing-in event because he "needed time to rest," the state-run Herald newspaper reported.
Crowds cheered the military commander who put Robert Mugabe under house arrest, General Constantino Chiwenga, as he arrived at the inauguration of the country's new leader.
The once-feared military has seen an outpouring of support from some Zimbabweans after it moved in last week to stop Mr Mugabe's unpopular wife Grace from positioning herself to succeed him as president.
Mr Mnangagwa is due to be sworn in at about 11.35am local time, Zimbabwean media says. Chief justice Luke Malaba will adminster the oath of office a little over an hour from now.
Crowds have gathered at Harare's National Sports Stadium, a 60,000-seater venue, for the ceremony.
The military parade at the presidential inauguration ceremony of Emmerson Mnangagwa in the capital Harare (AP)
The 75-year-old Mr Mnangagwa is a veteran of the brutal struggle to end white minority rule in Zimbabwe, which saw the rise of a new ruling elite with Mr Mugabe as its leader, writes The Independent's Caroline Mortimer.
Mr Mnangagwa has arrived at the stadium to cheers from onlookers.
The incoming president raised his fist as the stadium crowd stood for his arrival.
The Southern African Development Community (SADC), an intergovernmental organisation, said on Friday that it was ready to work closely with Zimbabwe's incoming leader Emmerson Mnangagwa and his government.
SADC is a 16-country organisation which is currently chaired by South Africa.
Join our new commenting forum
Join thought-provoking conversations, follow other Independent readers and see their replies