There was a civic funeral service in honour of Zulu who died last Monday at the Rhema Bible Church on Thursday.
The ceremony has been filled with moving tributes about Zulu from his family and friends, including his wife Letshego.
Among those who paid tribute to Zulu was Sports Minister Fikile Mbalula, who said that the rally champion was "not fake and confused."
“In an era where we lack role models‚ we confuse plastic and fake. Gugu was not fake and he was not confused. We’ve lost a superstar in Gugu. He was very passionate about he was doing‚” Mbalula said.
Mbalula said that there needs to be more investment into motorsport as there are many youngsters who are interested in the sport.
Zulu will be laid to rest at the Westpark Cemetery.