The funeral of soul music icon Aretha Franklin has been announced for 31 August in Detroit.

It will follow a two-day public viewing of her casket, and her body will be entombed at a family grave site, relatives have announced.

Franklin, the preacher's daughter who became the long-reigning "Queen of Soul" with such hits as "Respect" and "Chain of Fools," died at her home in Detroit on Thursday at the age of 76, after a battle with pancreatic cancer.

The Grammy-winning vocalist, who was born in Memphis, Tennessee, grew up in Detroit after moving there as a youngster with her family from Buffalo, New York.

She got her start as a singer touring in her father's gospel show when she was a teenager.

A lifelong friend and musical compatriot, Motown great Smokey Robinson, recalled in a Reuters TV interview that he met Franklin when she was just five or six years old, and heard her sing and play the piano "almost like she did as an adult."

Franklin's body will be laid to rest at Woodlawn Cemetery in Detroit on 31 August following a funeral that morning at the Greater Grace Temple nearby, but attendance at the service will be limited to family and friends, the announcement said.

Her coffin is to be "entombed" along with the remains of her father, the Reverend C.L. Franklin, and her brother, Cecil Franklin, and sisters Carolyn and Erma Franklin.

Before the funeral there will be a public viewing of Franklin's body 28-29 August at the Charles H. Wright Museum of African American History in Detroit, according to the schedule.

Gwendolyn Quinn, a spokeswoman for the family, said she believed that the viewing would be open-casket but that those arrangements had not yet been finalised.