The service also paid tribute to six other hostages who suffered similar fates to Mr Haines – aid workers Alan Henning, Kayla Mueller and Peter Kassig and journalists James Foley, Steven Sotloff and John Cantlie.
A slide show featuring photographs of them and Mr Haines was played during the service at Perth Congregational Church.
Minister Gordon Campbell, who led the service, said: “We are here to remember David and all the other hostages and it’s important that we do so.”
He referred to testimonies from other former hostages who spent time in captivity with Mr Haines and spoke highly of him.
Mr Campbell said: “In the most difficult of circumstances David was supporting others, mediating in disputes, keeping spirits up and being strong for others.”
Two British nationals, El Shafee Elsheikh and Alexanda Kotey, are serving life in US jails for their involvement in the plot to kill hostages.
A third man, Mohammed Emwazi, dubbed Jihadi John – who was believed to have featured in shocking videos of IS beheadings of a number of captives – was killed in a drone strike in 2015.
Ms Haines thanked those who have supported her over the past decade, including the families of other hostages, the US government and the charity Hostage International.
