Washington, Aug 29 (DPA) Amid tears and laughter, in words and music, the family, friends and political rivals of Edward 'Ted' Kennedy remembered the former US senator at a private 'Celebration of Life' memorial Friday night in Boston.

'He bore more hurt and heartache than most human beings are ever asked to endure, but at every opportunity he brought hope and joy and optimism to more people than we will ever know,' said Paul Kirk Jr, chairman of the John F. Kennedy Presidential Library, where the ceremony was held.

Sharing anecdotes from decades past and recent weeks, Kennedy's friends and colleagues recalled his passion for public service, his optimism, his large-heartedness, dignity, generosity and refusal to quit.

Vice President Joe Biden and former Republican presidential nominee John McCain, who both spent decades as Kennedy's Senate colleagues, were among those who spoke at the memorial.

Beginning on a deeply personal note, Biden said: 'In an astonishing and totally unexpected way he ended up playing a part in every critical moment of my adult life ... He crept into my heart and before I knew it, he owned a piece of it.'

Biden attributed his success in politics to Kennedy. 'I wouldn't be standing here as vice-president of the United States were it not for Teddy. He was the catalyst for my improbable win as a young senator.'

McCain recalled Kennedy's infectious laugh, which 'could ... cheer up the most beleaguered soul'.

'When we were agreed on an issue, and worked together to make a little progress for the country on an important issue, he was the best ally you could have,' McCain said.

'I think I'm going to miss him more than I can say. We disagreed on most issues but ...he taught me to be a better senator. The place won't be the same without him.'

Kennedy's allies and political opponents spoke of his life-long goal - overhauling the US health care system - which is still being debated in Congress.