Harry, 29, will attend the national service of thanksgiving at Westminster Abbey on Monday 3 March, Clarence House has confirmed.
The service, which will be broadcasted by the BBC, will mark the life of the former South African president. The Most Reverend Desmond Tutu, the former Archbishop of Cape Town, will give the address while the ceremony will be conducted by The Dean of Westminster, The Very Reverend Dr John Hall.
Harry will attend a short private reception at the iconic London landmark at the end of the service.
In December, when Mr Mandela passed away, Harry's father Prince Charles represented the Queen at the iconic leader's funeral.
The first-in-line to the throne travelled to the remote village of Qunu in South Africa – where Mr Mandela grew up – to stand in place of the reigning monarch.
Charles, who had met with the anti-apartheid revolutionary on a number of occasions, joined dignitaries from around the world.
After the statesman's sad passing, Charles described him as the "embodiment of courage and reconciliation."
"He was also a man of great humour and had a real zest for life," he said. "With his passing, there will be an immense void, not only in his family's life, but also in those of all South Africans and the many others whose lives have been changed through his fight for peace, justice and freedom."
A statement was also released on behalf of Her Majesty: "The Queen was deeply saddened to learn of the death of Nelson Mandela last night. He worked tirelessly for the good of his country, and his legacy is the peaceful South Africa we see today.
"Her Majesty remembers with great warmth her meetings with Mr Mandela and sends her sincere condolences to his family and the people of South Africa at this very sad time."