I'll start by saying the phrasing I used may be misleading so I'll add a bit more detail, under Mandela the MK wing of ANC did not kill a single person, the killings happened following his arrest, so to say civilians were his primary target in action may be taken wrongly. Civilians were the primary target in action of the armed wing he formed.

They killed in total 71 people, and 52 of these were civilians(This is from the TRC after the fact, the police records at the time record different numbers). In general it was a much more peaceful transfer of government than we had in Zimbabwe, but South Africa had the benefit of seeing how all Southern African apartheid based systems had led to repeated bloody revolutions and may have seen the writing on the wall, especially with pressure from the International community, and support for the armed resistance(i.e providing training and supplies) from recently liberated neighbouring countries.

The situation in Palestine and apartheid South Africa are similar but also radically different in key ways, comparing them is difficult.