Dare Not Linger tackles his five years as South Africa's president after the collapse of apartheid and gives his view of the country's first multi-racial elections in 1994.
Mandela's unfinished handwritten draft of the book was completed by a successful South African novelist.
The former president could not finish it because of his age and ill health.
Mandela spent 27 years in prison for fighting white minority rule and became South Africa's first democratically elected president in 1994, serving only one term in office.
He died in 2013.
