President Obama and First Lady Michelle Obama leave on Air Force One to attend a memorial service for Nelson Mandela Tuesday as Illinois Attorney General Lisa Madigan recalls her year in South Africa while Mandela was imprisoned on Robben Island. Elizabeth Brackett has the details.Watch web extra videos about the anti-apartheid icon from WTTW's archives.

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Chicago Tonight: Remembering Nelson Mandela

USA Today article on South Africa prepares for Mandela memorial service