Dennis Waterman, who played Terry alongside George in the long-running show, read an eulogy to the star during the service, which also included the 'Minder' theme tune being played.
The upbeat song 'I Could Be So Good for You' was a Top 10 hit for Dennis in 1980.
Earlier this week, he spoke of his mixed emotions ahead of the funeral during an interview on ‘Good Morning Britain’.
“I’m not sure how good I’ll be. I can eulogise about him for weeks but I don’t think they want that.
“It’ll be horrible but a wonderful celebration I think.”
Speaking after the service, Waterman told the BBC: "He was just the most popular person in showbiz and the nicest and the best.
"He was happiest when he was at home, when he was getting a few winners, and with his family and in his garden."