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When Nelson Mandela walked out of Victor Verster prison near Cape Town 20 years ago, it seemed as if the whole world was desperate to catch a glimpse of South Africa's most famous political prisoner.

At the centre of one of the most famous photographs of that moment was Hilda Ndude.

A fellow anti-apartheid campaigner, Hilda was in charge of protocol for that day, and was responsible for ensuring that Mandela's first public appearance for 27 years went without a hitch.

In the photograph, as Nelson and Winnie Mandela punch the air and wave in triumph, Hilda stands just behind them, looking very worried.

Hilda spoke to Lucy Ash and shared what it felt like to step out of the prison with Nelson and Winnie on that historic day.

She described the thousands of people who came to greet them - some of whom had walked up to 25 kilometres barefoot - and the song that they sang for Mandela.

Hilda says she met with Nelson Mandela only last week, when when she reminisced with him about that day, and joked about how she never did manage to get a copy of that iconic photo.