Hollywood stars, music greats, relatives and friends had assembled at New Hope Baptist Church in Newark, New Jersey to pay tribute to the singer, where she sang as a child before conquering the world stage with her performances.
A casket carrying Houston's body was taken from the church at around 3:45 pm (2045 GMT) as "I Will Always Love You," the theme from "The Bodyguard," movie regarded by many as her signature track, played in the background.
Kevin Costner, Houston's co-star in the film, delivered an emotional but upbeat tribute to the singer, whose death prompted sadness, grief and respect from fans and contemporaries worldwide.
Newark Mayor Cory Booker set the tone for the service, which opened to joyous gospel singing from the New Hope Mass Choir.
"We are here to mourn our loss, but to celebrate her life. God is in heaven, and with him is one of our angels, Whitney Houston," Booker said.
Streets near the red-brick church, which has been adorned with floral tributes, candles, balloons and condolence cards in recent days, were sealed off as the memorial service was by invitation only.
The church has a capacity of only 1,500 and fans were respectfully asked to stay away for fear of crowds disrupting the event, but several hundred turned up regardless. (AFP)
