Zimbabwe is set to swear in Emmerson Mnangagwa as president of the country following the forceful resignation of 93-year-old Robert Mugabe.

Having ruled for 37 years, Mugabe threw in the towel after pressure from the military and citizens.

Mnangagwa returned to the country on Wednesday to take the reins of power and told adoring crowds in Harare that they were witnessing "unfolding full democracy".

The former vice president will be sworn in as president at an inauguration ceremony on Friday, officials said.

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Surrounded by a large security detail on arrival at the headquarters of the ruling ZANU-PF party in a presidential-style motorcade on Wednesday, Mnangagwa said focus will be on the growth of the economy and job creation.

"Today we are witnessing the beginning of a new and unfolding full democracy in our country.

"We want to grow our economy, we want jobs... all patriotic Zimbabweans (should) come together, work together," the 75-year-old said.

The speech was his first since Mugabe fired him as vice president on November 6 over a succession tussle with the former first lady.

That move prompted the military's intervention to force Mugabe from power, leading to his resignation on Tuesday.

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