Indonesian authorities have refused Bali nine duo Andrew Chan and Myuran Sukumaran the right to have a pastor of their choice to witness their executions, outraging their families.

In heartbreaking scenes, the families of the condemned men arrived at the port of Cilacap on Tuesday morning for their last visit to Nusakambangan prison island, surrounded by friends.

They left the port at 9.30am local time (12.30pm AEST) and will be allowed to stay on the island until 2pm local time, when they will have to say their final goodbyes and return to the mainland.