Poetry, performance and prayer celebrated the voice of literary giant Maya Angelou at a memorial service held Saturday at Wake Forest University in Winston-Salem, North Carolina.

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“She taught us that we are each wonderfully made, intricately woven and put on this earth for a purpose,” first lady Michelle Obama said during her tribute to the celebrated poet and actress.

Angelou, 86, died at her Winston-Salem home on May 28. Angelou had been “frail” and suffering from heart problems, her literary agent said. Angelou taught American studies for years at Wake Forest.