The formal part of the service is to begin at 1400 GMT (10 am local time) in her MI hometown. She sang at both of his inaugurations.
Her invitation-only funeral is taking place at Greater Grace Temple, one of the largest and most famous churches in the city.
The funeral will start with music from the Aretha Franklin Orchestra, but also includes performances by Faith Hill, Ariana Grande, the Clark Sisters, Chaka Khan, Ron Isley, Fantasia, Jennifer Hudson, and Stevie Wonder. A pink Cadillac, as referenced in her song, "Freeway of Love", was on display outside the museum in tribute.
The funeral comes the morning after more than 40 artists performed at a free concert, billed "A People's Tribute to the Queen", spanning the R&B, Gospel, Jazz and Blues genres in which Franklin excelled.
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The Respect hitmaker will be laid to rest in her hometown of Detroit, Michigan, later today.
'I do not plan anything (with) someone I love like that, ' Robinson, a Motown great who grew up with Franklin, said. I really believe that this.is going to be an eye-opening experience for everybody in the world watching, ' said gospel artist Marvin Sapp, also among the scheduled performers. "We really celebrate because we really recognize that those we call the dearly departed, they wouldn't want for us to cry and be sad and sorrowful".
Information from the Associated Press was used in this report.
Franklin, 76, died August 16 after a battle with pancreatic cancer. "We were just cool all of our lives, and we stayed in contact, and we talked all the time up until she was no longer able to do that a few weeks ago", Robinson said on CNN. Yet there's no denying the star-power attending the Queen of Soul's final send-off.