Dozens were injured and eight people died in the 2010 blast, which devastated the Crestmoor neighborhood. 38 homes were destroyed.
Community members worked on the mural that was finished last week at Bethany Presbyterian Church. On Sunday city officials unveiled a plaque of remembrance.
"I think it turns your thoughts around from something sad to something more positive and more looking forward," San Francisco resident Mildred Angeles said.
"We wanted to create something beautiful," Katheryn Quickert said. "Taking something broken like mosaic tiles and turning into something beautiful is a good metaphor for us."
Survivors continue to press for stronger safety reforms after the blast.
PG&E has settled multiple lawsuits in the wake of the explosion.
The mural shows a phoenix rising from the ashes, healing waters, and a rainbow of hope. The dedication took place right after the church's 10 a.m. Palm Sunday service.