Zimbabwe's new leader Emmerson Mnangagwa has been sworn in as President in front of thousands of cheering supporters at Harare's national stadium, bringing the final curtain down on the 37-year rule of Robert Mugabe.

Key points: Zimbabwe's new leader pays tribute to Robert Mugabe in inauguration speech

Zimbabwe's new leader pays tribute to Robert Mugabe in inauguration speech Emmerson Mnangagwa vows to tackle corruption and says the Government's culture must change

Emmerson Mnangagwa vows to tackle corruption and says the Government's culture must change Democratic elections set to be held next year as scheduled

Taking his oath of office, the 75-year-old former security chief known as "The Crocodile" vowed to uphold the constitution of the former British colony and protect the rights of all Zimbabwe's 16 million citizens.

Mr Mnangagwa, who replaces Mr Mugabe after his resignation on Tuesday amid impeachment proceedings, is the country's second leader since independence from white minority rule in 1980.

In his inauguration speech, Mr Mnangagwa said the country should never remain a hostage of its past, and paid tribute to Mr Mugabe, to the crowd's tepid applause.

Mr Mugabe should be "lauded and celebrated" for his historic role, he said.

However, he sought to reinforce the idea of a "new Zimbabwe", a refrain commonly heard in the streets of the capital.

"We must work together. You, me, all of us who make up this nation," he said, urging the millions of Zimbabweans who have left the southern African country to contribute to their homeland's reconstruction.

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Mr Mnangagwa said he was "deeply humbled" to take power after an extraordinary series of events that began with Mr Mugabe firing him early this month as vice-president.

He vowed to tackle corruption and said "the culture of Government must change, and change now".

Zimbabwe's new President also reached out to the world after years of sanctions and international condemnation over rights abuses, asking "those who have punished us in the past to reconsider".

He made a range of promises with the aim of reviving a once-prosperous economy that has collapsed amid mismanagement and international sanctions.

Mr Mnangagwa said he would aim for more foreign investment and promised that "all foreign investment will be safe in Zimbabwe", addressing fears after moves by Mr Mugabe to nationalise the country's lucrative resources such as diamonds.

The military, fresh from putting Mr Mugabe under house arrest just days ago, quickly swore its loyalty to the new leader.

The military parade at the presidential inauguration ceremony of Emmerson Mnangagwa in Harare. ( AP: Ben Curtis )

Even though most Zimbabweans celebrated the exit of 93-year-old Mr Mugabe, who presided over the descent into penury and despotism of one of Africa's brightest prospects, some are worried about the future under Mr Mnangagwa.

In particular, they question his role in the so-called Gukurahundi massacres in Matabeleland in 1983, when an estimated 20,000 people were killed in a crackdown on Mr Mugabe's opponents by the North Korean-trained Fifth Brigade.

Mr Mnangagwa has denied any part in the atrocities and, since his return to Zimbabwe after two weeks in hiding, has been preaching democracy, tolerance and respect for the rule of law.

He was a key Mugabe confidant for decades until they fell out because of the presidential ambitions of Mr Mugabe's wife, Grace.

Mr Mnangagwa appeared to have initial support from neighbouring states.

South African President Jacob Zuma said he hoped he would steer Zimbabwe successfully through the transition from Mugabe's rule, and the Southern African Development Community, an intergovernmental organisation, said it was ready to work closely with Mr Mnangagwa's Government.



Democratic elections set to be held next year as scheduled

Sorry, this video has expired President-designate Mnangagwa arrives for inauguration

The ruling ZANU-PF party nominated Mr Mnangagwa to fill the vacancy left by Mr Mugabe, after he returned from exile.

Mr Mnangagwa will serve until the end of the presidential term next year and vowed "democratic" elections will be held as scheduled.

He has urged Zimbabwe to move beyond the poisoned politics of the recent past and promised to reimburse the farmers whose land was seized under Mugabe, leading to international condemnation.

But he said those actions could not be reversed.

Zimbabwe's opposition backed Mr Mugabe's removal and now hopes for a bigger seat at the table to help determine the country's future.

Despite his long association with the Government, Mr Mnangagwa has promised democracy.

Ruling party officials said Mr Mugabe will remain in Zimbabwe with their promise that he is "safe" and his legacy as a "hero" will stand after his fight for an independent Zimbabwe.

Zimbabwe's state-run Herald newspaper reported Mr Mnangagwa has assured Mr Mugabe and his family of their "maximum security" as they remain in the country.

The report confirmed Mr Mugabe would not attend the ceremony because he "needed time to rest".

Today marks 'new beginning' for Zimbabwe

The military parade at Emmerson Mnangawa's inauguration. ( ABC News: Sally Sara )

Speaking ahead of the inauguration, Zimbabwe's Minister for National Healing, Reconciliation and Integration Sekai Holland said today marked a new beginning.

"What has happened in the past, there are mechanisms in place that we have built, an infrastructure for peace, where we are going to systematically root out behaviours that we never want to see again in the future in the new Zimbabwe," she told the ABC's PM program.

Ms Holland said even though she was tortured under the Mugabe regime, she does not begrudge the former leader being given immunity from prosecution.

"Mugabe has been held to account," she said.

"Can you see what has happened to him in the last few weeks? He did not stand aside, they kicked him out.

"Zimbabweans want to move on, and what we want to do is to move into the future with what the future has for Zimbabwe."

ABC/wires