We investigate the gelation of a rigid rod network comprised of an aqueous suspension of surfactant stabilized Single-Wall Carbon Nanotubes (SWNT). Using particle tracking microrheology, we follow the gelation of the SWNT suspension from an initial sol of contacting, but unbonded, tubes to a fully cured gel of contacting tubes bonded by van der Waals interactions. The SWNT network exhibits many features found in critical sol-gel transitions, including divergence of the viscosity as the gel point is approached from below, emergence of a finite elastic modulus above the gel point, and power law scaling of the viscosity and shear modulus below and above the gel point, respectively. The viscoelastic moduli obtained at different times above the gel point can be collapsed onto a master curve using time-cure superposition. Additionally, we present a scheme based on two-point statistics to characterize rheological inhomogeneities in the network during gelation.