One of the BMW Democracy Cars -- a limited series of 10 vehicles produced in 2004 to celebrate a decade of democracy in South Africa -- will be auctioned by Bonhams in London on April 28.

The car, which was personally signed by Nelson Mandela, is estimated to fetch between $5,000 and $8,300.

In 2004, BMW produced 10 cars, all of which were signed by the late former South African president for a special edition celebrating the anniversary of Mandela's election. All of the cars were auctioned at the time, with the proceeds going to South African charity organizations.

The model that is going back on the auction block this month is a BMW 318i Sport with a plaque signed by Mandela on August 26, 2004.

An anonymous bidder paid £38,000 for the car in the original auction, before selling the car to a friend who is now reselling it through Bonhams.

The vehicle, which has over 74,000km on the odometer, will be auctioned at the Royal Air Force (RAF) Museum in London on Monday, April 28.

2014 is the 20th anniversary of Nelson Mandela's election to the office of president in South Africa, following the victory of the ANC party in the democratic elections held on April 27, 1994.