The "reality" TV show called Being Mandela, starring granddaughters Zaziwe Dlamini-Manaway and Swati Dlamini, went on air on DStv on Wednesday night.
The sisters have however been accused of degrading Mandela's name with bad language and crude behaviour.
The 30-minute programme was produced by America's Fox channel after local TV stations declined the show.
The sisters are the daughters of Mandela's daughter Zenani and granddaughters of Winnie Madikizela-Mandela and Madiba.
They were born in South Africa but spent most of their childhood in America.
Viewers yesterday took to the social networks to lambast the show.
Some expressed fury, disgust and disapproval and called for the show to be discontinued.
Just before the opening credits, which included images of Madiba, Swati and another sister were arguing using vulgar language.
Winnie was shown visiting their house, and the sisters told how they were under pressure to live up to the names of their two icons, Winnie and uTata Madiba.
Viewers saw the sisters' father, Prince Thumbumuzi Dlamini, telling them that they had to go home to Swaziland to perform "royal duties".
It was also revealed that they had not been to Swaziland since they were kids.
One scene which apparently angered viewers was on the road to Swaziland when the sisters stopped on the side of the road next to a forest.
It looked as if they wanted to pee and it was raining. The two ended up not relieving themselves. They screamed that they wouldn't go into the trees as it was scary. "Oh, we are in Africa!" they said.
Shortly after the show aired, South Africans took to Twitter to voice their disapproval.
A spokesman for the Mandela Foundation, Sello Hatang, said he did not watch the show and would not comment on it and the reaction from the public.
Mazwi Mgobhozi, a spokesman for Fox TV channel, told Daily Sun: "As the central characters belong to the globally known Mandela family, we believe there is relevance in bringing the show to local audiences. We don't see the need to discontinue it."
- Daily Sun
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