The unseen photo was taken during their visit to India to promote their 2017 action movie 'xXx: Return of Xander Cage'
The 93-year-old had clung on for a week after an army takeover and expulsion from his own ruling ZANU-PF party, but resigned shortly after parliament began an impeachment process seen as the only legal way to force him out.
Wild celebrations broke out at a joint sitting of parliament when speaker Jacob Mudenda announced Mugabe's resignation and suspended the impeachment procedure.
People danced and car horns blared on the streets of Harare at news that the era of Mugabe - who has led Zimbabwe since independence in 1980 - was finally over.
Mugabe is the only leader Zimbabwe has known since a guerrilla struggle ended white-minority rule in the former Rhodesia.
During his reign, he took the once-rich country to economic ruin and kept his grip on power through repression of opponents, although he styled himself as the Grand Man of African politics and kept the admiration of many people across Africa.
The army seized power after Mugabe sacked Mnangagwa, ZANU-PF's favourite to succeed him, to smooth a path to the presidency for his wife Grace, 52, known to her critics as "Gucci Grace" for her reputed fondness for luxury shopping.
But Mugabe refused to resign, prompting the impeachment procedure which would have been the only legal was to force him out.
Mnangagwa, whose whereabouts are unknown after fleeing the country in fear for his safety, is expected to take over as president.
The unseen photo was taken during their visit to India to promote their 2017 action movie 'xXx: Return of Xander Cage'
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