Scott, 50, was killed when officer Michael Slager, 33, shot at him eight times from behind on April 4. ( Read story here)
The hearse, covered in the American flag carrying Scott's body was accompanied by a police escort of two officers on motorcycles, according to USA Today.
The Scott family did not allow cameras into the three-hour service at the church that began at 11 a.m.
According to The Guardian, the hall quickly reached capacity, leaving around 100 people outside.
Pastor George Hamilton who spoke the service said that Scott's death was the result of "overt racism," the newspaper reports.
"Keep your phone handy, keep your charge up. You never know when you need to be around," he added.
The funeral programs featured messages written by the Scott family.
"No words we write could ever say how sad and empty we feel today," part of it read. "The angels came for you much sooner than we planned, we'll brave the bitter grief that comes and we'll try to understand."
Rodney, a neighbor of the Scott family for 13 years spoke to The Guardian.
"He was a good guy, wonderful, we never had no problems. We looked after each other in the neighborhood. This should never have happened to him."
There will also be a service at Charity Church at 11 a.m. on Sunday.
