GEOFF BENNETT: Today marked a national day of mourning for the funeral of the late President Jimmy Carter.

AMNA NAWAZ: But it was also a day to remember and celebrate the life and legacy of the nation's 39th president, a man who only served one term, but who forged an enduring legacy as a selfless humanitarian and a winner of the Nobel Peace Prize.

Here's Laura Barron-Lopez with more.

LAURA BARRON-LOPEZ: President Jimmy Carter's final journey home.

With the morning sun beaming down on the East Front of the U.S. Capitol, the late president's casket made its way to Washington's National Cathedral for the high honors and solemn ceremony of his state funeral.

Soaring hymns echoed through the grand space.

Thousands gathered in the pews for the culmination of more than a week of tributes for the soft-spoken Southern Democrat.

Speakers celebrated Carter's deep faith, honored his military service as a naval lieutenant, and saluted his devotion to service more than politics.

His grandson, Joshua: JOSHUA CARTER, Grandson of Jimmy Carter: My grandfather spent the entire time I have known him helping those at need.

He built houses for people that needed homes.

He eliminated diseases in forgotten places.

He waged peace anywhere in the world wherever he saw a chance.

He loved people.

LAURA BARRON-LOPEZ: Another of his grandsons, Jason, remembered the life of a humble and decent man.

JASON CARTER, Grandson of Jimmy Carter: In my 49 years, I never perceived a difference between his public face and his private one.

He was the same person no matter who he was with or where he was.

And, for me, that's the definition of integrity.

LAURA BARRON-LOPEZ: That integrity united Washington, if only for a moment.

All five of the nation's living presidents attended the service to celebrate Carter's life, the so-called presidents club, three Democrats and two Republicans, including president-elect Donald Trump.

Trump shook the hand of his former vice president, Mike Pence, a notable exchange is the two have not interacted publicly for four years after Pence refused Trump's demand to reject the 2020 election results.

Trump sat shoulder to shoulder with President Barack Obama, even sharing a laugh.

As one of his final acts in the waning days of his own term in office, President Joe Biden celebrated Carter, his longtime friend.

JOE BIDEN, President of the United States: To make every minute of our time here on Earth count, that's the definition of a good life, a life Jimmy Carter lived during his 100 years.

LAURA BARRON-LOPEZ: And the president credited Carter for valuing character over power.

JOE BIDEN: Jimmy Carter's friendship taught me, and through his life taught me, that strength of character is more than title or the power we hold.

We have an obligation to give hate no safe harbor and to stand up to what my dad used to say is the greatest sin of all, the abuse of power.

LAURA BARRON-LOPEZ: Alongside Biden, Carter was the only other one-term Democratic president in the last 50 years.

Former top White House aide Stuart Eizenstat spoke of redemption for his friend.

STUART EIZENSTAT, Former Carter White House Domestic Policy Adviser: The test of American presidents is not the number of years they serve, but the duration of their accomplishments.

By this measure, Jimmy Carter was among the most consequential one-term presidents in American history.

LAURA BARRON-LOPEZ: There were even words from those dear to Carter whom he outlived.

Ted Mondale, reading on behalf of his late father, Walter Mondale, honored a legacy that could now be threatened by the incoming president.

TED MONDALE, Son of Walter Mondale: In many ways, he laid the foundation for future presidents to come to grips with climate change.

Some thought he was crazy to fight so hard to pass these laws, but he was dead right.

LAURA BARRON-LOPEZ: There was also bipartisan praise that often eluded Carter when he occupied the Oval Office, including a eulogy from Carter's predecessor, Republican President Gerald Ford, delivered by his son.

STEVEN FORD, Son of Gerald Ford: "By fate of a brief season, Jimmy Carter and I were rivals, but for the many wonderful years that followed, friendship bonded us as no two presidents since John Adams and Thomas Jefferson.

As for myself, Jimmy, I'm looking forward to our reunion.

We have much to catch up on.

Thank you Mr. President.

Welcome home, old friend."

LAURA BARRON-LOPEZ: After the service, Carter's casket journeyed back to Georgia, where the family held a private funeral at Maranatha Baptist Church, where Carter taught Sunday school for decades, his birthplace of Plains, Georgia, now also his final resting place.

For the "PBS News Hour," I'm Laura Barron-Lopez.