South African President Cyril Ramaphosa on Friday congratulated Emmerson Mnangagwa on his election as Zimbabwe President following elections held in the neighbouring country on Monday.

In a statement, the presidency said Ramaphosa, who is also the Chairperson of the Southern African Development Community (SADC), had called Mnangagwa to congratulate him.

In the statement, Ramaphosa congratulated the people of Zimbabwe for "conducting a peaceful election as declared by the SADC Election Observation Mission and other election observer missions".

Ramaphosa called on those who challenged the outcome of the vote, the first in Zimbabwe's post-Mugabe era, to do so through legal channels.

"President Ramaphosa has appealed to all political leaders and the people of Zimbabwe to accept the outcome of the election and should they have challenges, they must follow legal remedies provided for in the constitution and electoral law."

He expressed concern about the loss of life in Zimbabwe this week following the elections when opposition protesters clashed with security forces in the capital Harare.

At least six civilians died.

"President Ramaphosa also expressed his concern about the violence that occurred on 1st August which resulted in the tragic death of six people. In this regard, President Ramaphosa has conveyed his condolences to the families of the victims and wish the injured speedy recovery."

Ramaphosa said he would work closely with Mnangagwa to enhance the historical ties between South Africa and Zimbabwe and to foster closer economic cooperation.

Mnangagwa, a former deputy of Mugabe, took power in a bloodless coup in November last year. His main challenger for the presidency, the Movement for Democratic Change Alliance's Nelson Chamisa, was widely expected to win the vote.