The three-time World Cup winner, who scored over 1,000 goals in his career, died on December 29 aged 82 after a battle with cancer.
On Monday, his coffin was placed on the centre circle of the Urbano Caldeira stadium in Sao Paulo, ahead of a private burial on Tuesday.
Pele has reportedly chosen a burial site on the ninth floor of a nearby cemetery which will allow him to watch over the Santos stadium.
Former Brazil midfielder Ze Roberto and Pele’s son Edinho were among those who placed his coffin on the pitch during a ceremony before fans and well-wishers were allowed to pay their respects.
Long queues had formed outside the stadium, with some fans waiting overnight for their opportunity to bid farewell to a player many consider the best to have ever lived.