( CNN ) -- Poetry , performance and prayer celebrated the voice of literary giant Maya Angelou at a memorial service held Saturday at Wake Forest University in Winston-Salem , North Carolina . `` She taught us that we are each wonderfully made , intricately woven and put on this earth for a purpose , '' first lady Michelle Obama said during her tribute to the celebrated poet and actress . Angelou , 86 , died at her Winston-Salem home on May 28 . Angelou had been `` frail '' and suffering from heart problems , her literary agent said . Angelou taught American studies for years at Wake Forest . Obama did not meet Angelou until 2008 , while on the campaign trail , but she said Angelou 's poem 'Phenomenal Woman ' had a profound impact on her life . `` I was struck by how she celebrated black women 's beauty like no one had ever dared to , '' Obama said in the service held at Wait Chapel . `` She also graced us with an anthem for all women , a call to all of us to embrace our God-given beauty . How desperately black girls needed that message , '' the first lady said , remembering that as a young girl her first doll was a white Malibu Barbie . She said that Angelou reminded everyone that `` We must each find our own voice , decide our own value and then announce it to the world with all the pride and joy that is our birthright as members of the human race . '' 'Spiritual queen mother ' Oprah Winfrey remembered her friend as the greatest woman she has ever known . `` The loss I feel I can not describe , '' Winfrey said , holding back tears . `` It 's like something I 've never felt before . She was my spiritual queen mother and everything that that word implies . She taught me the poetry of courage and respect . '' Winfrey recalled meeting Angelou in the late 1970s , when she worked as a news reporter . `` She looked at me and said , 'Who are you girl ? ' '' Winfrey said . `` I will miss her . '' 'She had the voice of God ' `` I Loved Maya , '' said former President Bill Clinton during his reflection . He said the two last met in April in Austin during a celebration of of the 50th anniversary of the Civil Rights Act . Clinton recalled that he hugged Angelou and said , `` I can not believe that you have gotten yourself here . '' He said she responded , `` Just because I 'm wheelchair-bound does n't mean I do n't get around . '' Clinton became aware of Angelou while in college by reading her book . `` I Know Why the Caged Bird Sings , '' her lasting contribution to literature that bore witness to the brutality of a Jim Crow South . He said Angelou was always paying attention and used her voice to call attention to the things that really mattered . `` God loaned her his voice . She had the voice of God and he decided he wanted it back from her , '' Clinton told the audience . Music and more . Actress Cicely Tyson reflected on a friendship that began in 1960 , when both were in a play called `` The Blacks , '' which ran for three years . `` Every emotion known to man was exhibited by Maya . She held nothing ( back ) . She spoke her mind no matter what the situation , '' Tyson remembered . The memorial service also featured singer Lee Ann Womack performing `` I Hope You Dance , '' considered Angelou 's favorite song . At the conclusion of the service Saturday , Angelou 's voice once more was heard in a recording of the 1996 Ashford & Simpson song `` Been Found . '' Maya Angelou remembered by those she inspired . Legendary author Maya Angelou dies at age 86 .
Memorial service celebrates life and work of Maya Angelou . Hide Caption 8 of 12 Photos:Photos: ` She celebrated black women 's beauty like no one had ever dared to '' Oprah Winfrey : `` The loss I feel I can not describe '' Bill Clinton : `` God loaned her his voice ''