The Detroit diva was transported to the museum in a classic white LaSalle Sedan as part of a regal send off.
Her shiny casket - inscribed inside with “The Queen of Soul” in small gold letters - was surrounded by a spray of soft-pink and lavender-coloured roses.
The flowers were said to reflect her love for them and her propensity to send arrangements "in grand fashion".
And her legs were said to have been crossed at the ankles, to remember someone who was comfortable with being a strong woman.
Franklin wore scarlet
Sabrina Owens, Franklin's niece, who was among those organising the event, confirmed the dress was "something she would have selected for herself".
She said: "After
"She loved the city of Detroit and the city of Detroit loved her."
Aretha's soaring voice also poured out from loudspeakers outside the museum, stirring fans arriving to pay their respects to sway and sing along and others to weep.
Franklin died last week at the age of 76 from pancreatic cancer in Detroit, where she began her career as a child singing gospel in the New Bethel Baptist Church
Hundreds of music lovers slept on the sidewalk overnight to ensure they were among the first to say a farewell to the global star.
Officials made mourners put away their cell phones before viewing Aretha and quickly ushered them along.
Tammy Gibson, 49, of Chicago said she arrived about 5.30 a.m.
She came alone but made fast friends with others who sang and reminisced.
Growing up, Gibson said she heard Franklin's music "playing all the time" by her parents,
Outside the museum, she said: "I know people are sad, but it's just celebrating people dancing and singing her music." Indeed, a group of women were singing her hit "Freeway of Love."
Franklin had been a constant in Gibson's life.
"I saw the gold-plated casket it dawned on me: She's gone, but her legacy and her music will live on forever."
Multiple life-sized posters of her flanked the entrance and exit of the building - which was soon mobbed
Museum board member Kelly Major Green said the goal was to create a dignified and respectful environment akin to a church, the place where Aretha got her start.
“What we wanted to do is be reflective of the Queen,” Ms Green said.
“It’s beautiful. She’s beautiful.”
The high-heel scarlet shoes, in particular, show “The Queen of Soul is
“She is just iconic. The way she loved and treated individuals, and she always remained down to earth,” said Mary Jones, who wore an"'I love Aretha' t-shirt and made the four-hour drive from Ohio to pay her respects.
“It’s unreal that I’m going to get to say goodbye to her now. It’s amazing.”
The Wright Museum previously hosted a similar public viewing for civil rights icon Rosa Parks after her 2005 death.
Aretha sang at Parks’ funeral and the singer will be entombed in the same cemetery as Parks.
Credit: The Sun