Ms d'Alpuget delivered the final tribute at a joyous state memorial service for Mr Hawke on Friday, replete with laughs and musical salutes.

The 89-year-old ex-Labor prime minister died peacefully at his Sydney home on May 16.

"This memorial service marks the transition from the grief of loss to the celebration of a life triumphantly well lived," she told the applauding crowd.

"With today's transformative service, we smile again, we glow with pride for the presence among us for almost 90 years of a great human being."

Ms d'Alpuget was surrounded by Mr Hawke's children and grandchildren, complemented by a throng of dignitaries and the public.

Five former prime ministers - Paul Keating, John Howard, Kevin Rudd, Tony Abbott and Malcolm Turnbull - joined current leader Scott Morrison and federal Labor's Anthony Albanese, alongside Governor-General Sir Peter Cosgrove and a swag of other well-known Australians.

Craig Emerson, Mr Hawke's former "economic, environmental and horse racing advisor" and close friend, was MC at the service - opened by indigenous federal Labor MP Linda Burney with a traditional welcome to country.

Mr Morrison was first to speak following the national anthem, saying Mr Hawke loved Australia and Australians loved him "deeply" in return.

"Australians, all let us rejoice for the life of Robert James Lee Hawke," the prime minister told the crowd.

"We thank Bob Hawke for loving Australia and loving Australians with every fibre of his being, with every measure of his enormous enthusiasm, with every laugh, every tribute, every tear and every moment of his great devotion."

Mr Albanese described Mr Hawke as a "giant" that truly governed for all Australians.

"Bob Hawke was not towering physically but somehow he seemed bigger than all of us," the Labor leader said.

"He reached out, he listened, he learned, he encouraged and he dared, dared us to be a better nation."

Friday's eulogy was delivered by Kim Beazley, a protege of Mr Hawke who went on to lead the Labor party and is now governor of Western Australia, who told guests he "loved Bob" - a mentor and friend.

Mr Hawke's daughter Sue Pieters-Hawke said her father was such a powerful presence in her family's life that she doesn't fully comprehend that he's gone.

But she takes comfort in the fact he was "ready to go" and died peacefully in the arms of Ms d'Alpuget.

"I will always be proud of what dad did and of the spirit of optimism and inclusion he helped bring to our country," she said.

"I treasure our conversations, the gentle smiles, the grip of his hand, his pleasure in family and in simple things like cauliflower cheese."

Mr Keating, who served as Mr Hawke's treasurer before displacing him as leader in 1991, hailed the pair's eight-and-a-half year partnership in government - but also enduring friendship, which many overlooked.

"Much of the very late focus on my relationship with Bob was on the termination of cooperation between us and his displacement by me as leader," Mr Keating said.

"Any cursory observation of those events generally fails to comprehend the very high level of friendship and cooperation between us for those eight-and-a-half years. It lasted right to the end."

Among others who spoke were trade unionist Bill Kelty and former advisor Ross Garnaut.

The Sydney Symphony Orchestra also played several musical tributes, including the chorus of George Frideric Handel's Messiah and Men at Work's Down Under.

Free tickets to the service, including spots on the steps outside, were snapped up within 25 minutes.

A private family funeral for Mr Hawke was held soon after his death.

Australian Associated Press