Tiro's remains were exhumed during a ceremony in Gaborone, Botswana on Friday.
Tiro, a Black Consciousness Movement activist, fled to Botswana in 1973. He was sought by police for challenging the then Bantu Education Act. In 1974 his body was blown apart in a parcel bomb explosion.
In a statement on Friday, Deputy Arts and Culture Minister Brigitte Mabandla said South Africa and its struggle for democracy suffered a great loss with Tiro's cruel and untimely death.
"His life was sacrificed, like many others, in the fight against apartheid. Yet as his spirit is brought home to rest we are moved once again to celebrate the life and legacy of this great man."
Mabandla said by bringing Tiro home to be buried in South African soil, South Africans were claiming Tiro's rightful position in the mainstream of South African history.
"It is often said that those great leaders who died fighting against apartheid nourished the soul of our people in their struggle for democracy. Onkgopotse Tiro was one such person who grew up in difficult conditions and became a leader.
"I knew him at the University of the North where he headed the students' representative council. Tiro was an inspiration to all who knew and worked with him. It must be a great solace to his family to know how many of today's leaders were influenced and encouraged by his example. In this way, he continues to play his part in building a just and humane democracy in South Africa," said Mabandla.
Tiro's repatriation was an important symbol of hope for a future built on solid understanding of South Africa's complex past.
"In remembering and honouring Onkgopotse Tiro in this way we are ensuring that his spirit continues to nourish this country which he sacrificed so much for. His life will not be forgotten," Mabandla said.
Meanwhile, the Department of Arts and Culture is formulating plans to build monuments to commemorate those who were victimised and killed by the apartheid system.
Said spokesman Andile Xaba: "Recently, the Truth and Reconciliation Commission also approached the department to consider establishing memorials for those who gave their lives in the struggle to bring about a democratic South Africa. South Africa's heritage and monuments fall within the ambit of the department's responsibilities."
Xaba said the president's office had been inundated with requests to commemorate historic events and great leaders. This included a request to commemorate Tiro and the department had realised the need for developing a legacy project.
"This vision is guided by the principle that all South Africans want to claim, value and acknowledge this country's diverse heritage. This has the power to affirm all inhabitants of this country both emotionally and spiritually.
"It will also enable people to explore their sense of place and identity as citizens of South Africa," said Xaba.