Mahama with his wife, Lordina Mahama, to sign the book.
The Speaker of Parliament, Prof Aaron Michael Oquaye, was also at the Accra International Conference Centre to sign the book of condolence.
The Speaker was accompanied by a member of the Parliamentary Service Board, Hackman Owusu Agyeman, and the Clerk to Parliament, Cyril Kwabena Oteng Nsiah.
Rawlings died at the age of 73 at the Korle Bu Teaching Hospital, where he was on admission after falling sick.