It was a sombre star-studded memorial for Michael Jackson, but it was his family who stood front and centre in tribute to the King of Pop.

Jackson's daughter, Paris Michael Katherine Jackson, concluded the memorial, tearfully saying: "He was the best father."

"I just want to say I love him so much," she said before collapsing into the arms of her aunt, Janet Jackson.

While many of the millions around the world watching the ceremony may have expected a spectacle worthy of one of Jackson's high-energy shows, the memorial was infused with spirituality and thoughtful remembrance.

The ceremony ended not with one of Jackson's massive hits such as "Beat it" or "Billie Jean," but with group performances of "We Are the World" and "Heal the World."

Still, there were some notes that were struck to remind those watching of Jackson's over-the-top persona. His brothers wore gold ties and a single, sparkling white glove.

Jackson's glittering golden casket was carried on stage as a gospel choir sang, before about 20,000 gathered for his public memorial in Los Angeles Tuesday.

Then, after an introduction by Pastor Lucious Smith, Mariah Carey and Trey Lorenz performed "I'll Be There," which was originally recorded by The Jackson 5.

A number of well-known entertainers and personalities spoke at length about Jackson, both as a person and in regards to his musical legacy.

Music legend Stevie Wonder performed, saying beforehand that the memorial was a moment he wished he had never lived to see.

"This is a moment that I wish that I didn't live to see come. But as much as I can say that and mean it, I do know that God is good and I do know that as much as we may feel -- and we do -- that we need Michael here with us, God must have needed him far more," he said.

Jennifer Hudson sang Jackson's "Will You Be There" and John Mayer played a quiet version of "Human Nature" on guitar.

Actress Brooke Shields sobbed as she spoke of her friendship with Jackson when they were young child stars.

'Greatest entertainer'

Berry Gordy, the founder of Motown Records, delivered a memorial speech in which he called the King of Pop "simply the greatest entertainer who ever lived."

But Gordy also touched on the controversy that surround Jackson over the last 20 years saying there were ""some sad times and maybe some questionable decisions on his part."

The Rev. Al Sharpton delivered an impassioned speech, saying that Jackson broke down significant cultural barriers, making white America comfortable with black leaders, from Oprah to Tiger Woods right to President Barack Obama.

He also rose to the defence of Jackson, slamming his critics.

"There wasn't nothing strange about your daddy," he said , addressing Jackson's three children in the front row. "It was strange what your daddy had to deal with!"

L.A. Laker legend Magic Johnson brought a much-needed light touch to the memorial, recalling being invited over for a fancy dinner at Jackson's home, only to end up eating Kentucky Fried Chicken on the floor with the eccentric singer.

The memorial, held at the Staples Center arena, began with tributes pouring in from legendary singer Diana Ross and former South African president Nelson Mandela.

"Michael wanted me to be there for his children and I will be there if they ever need me," Ross said in her statement, which was read out by legendary singer Smokey Robinson. "I hope today brings closure for all those who loved him."

In his statement, which Robinson also read, Mandela said he was deeply saddened by Jackson's "untimely death."

"We had great admiration for his talent and that he was able to triumph over tragedy on so many occasions in his life," Mandela said. "Michael was a giant and a legend in the music industry and we mourn with the millions of fans worldwide."

Jackson's golden casket was brought to the arena after a private service attended by family and close friends at Forest Lawn Memorial Park in Hollywood Hills. Fans who won tickets to the memorial wore gold wristbands.

No traffic problems

Authorities blocked off sections of freeways during the morning rush hour to allow the motorcade to pass, but authorities expressed surprised as the traffic snarl expected never came to pass.

"I think people got the message to stay home," California Highway Patrol Officer Miguel Luevano said. "When you have people staying home, it clears up those freeways."

Authorities expected 250,000 people to make their way down along the Staples Center perimeter, but police estimated only 1,000 turned up Tuesday.

More than 1.6 million fans registered for free tickets to the public memorial but only 8,750 actually received a pair of tickets.

On websites such as eBay and Craigslist, some ticket holders were selling their seats for up to $30,000.

To stop scalpers, organizers checked IDs of ticket holders at the stadium.

Jackson's legacy

Jackson died last month after suffering cardiac arrest at his Los Angeles home.

Rev. Jesse Jackson, a friend of the Jackson family, said Tuesday he wished that Michael Jackson could have seen the current outpouring of emotion from his fans.

"He aimed to please, he sought to be appreciated, he sought to be embraced," Jackson told Walters.

"That happened in some measure in life but in greater measure now in death as we reflect upon the phenomenon of Michael Jackson."

Addressing the controversy surrounding the superstar's death, Jackson said ultimately he was a winner.

"Ultimately you judge a baseball game by the box score," Jackson said. "There are homeruns and there are errors but at the end of the game are you a winner or a loser? He was a winner."

Across the U.S., about 50 theatres were planning to broadcast the memorial live for free.

King Errisson, a Motown musician who worked with a young Michael Jackson, said the "King of Pop" was a giant in the entertainment world.

"If you look at the way he danced and the way he dressed there was only one Michael and there never will be another one like him," Errisson said.

"There was nobody before him and there won't be one after him because he was not ashamed to try things -- that's what I loved about him."

Prior to his death, Jackson was preparing for a massive comeback with a series of 50 shows scheduled for London's O2 Arena -- which would have ended years of seclusion.

The 13-time Grammy-winner, who has sold more than 750 million albums over his career, had not embarked on a major tour since 1997.

With files from The Associated Press