But state television reported that Movement for Democratic Change parliamentarians attended the opening of parliament, to be addressed by Mugabe.
The MDC said earlier on Tuesday that Mugabe had no right to address the chamber until power-sharing talks between the opposition and the ruling ZANU-PF were completed.
On Monday, ZANU-PF and the Movement for Democratic Change won key positions in the two chambers, complicating Zimbabwe's post-election political crisis.
The MDC, led by Morgan Tsvangirai, has protested against Mugabe's plan to open parliament, saying it would hamper talks on forming a unity government.
The balance of power remains delicate.
The MDC won the position of speaker of parliament, one of the most powerful posts in Zimbabwean politics.
ZANU-PF won a vote for the presidency of the upper house of parliament, the Senate -- where it has a majority -- meaning it can block legislation passed by parliament.
Negotiations between ZANU-PF and the MDC have stalled over what the opposition says is Mugabe's refusal to give up executive power after 28 years in office.
The deadlock, which persists in spite of strong regional and international pressure for a deal, has dampened hopes of an agreement that could end the political crisis and revive the economy.
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