Nelson Mandela, fellow veterans of South Africa's anti-apartheid struggle and family have raised glasses of bubbly to celebrate the 20th anniversary of his release from prison.

Mandela was released Feb. 11, 1990 after 27 years in prison, most of it spent on Cape Town's Robben Island.

In video released from a celebration at his Johannesburg home Thursday, Cyril Ramaphosa, an ANC leader who helped organize Mandela's welcome two decades ago, proposes a toast in which he says that Mandela remains an inspiration and that the sacrifices he made would never be forgotten.

Mandela's former wife, Winnie Madikizela-Mandela, and some of their children and grandchildren are seen joining the celebration in the video released by Zinc Media, a production company owned by Mandela's daughter Zindzi Mandela.

Zinc is preparing a documentary about the anniversary called "Conversations About That Day".

Mandela, who turns 92 on July 18, had largely retired from public life.