The Rolling Stones became the first major international rock band to play in Cuba. More than 100,000 people attended the concert at the Ciudad Deportiva in Havana.
Cubans celebrated at the concert, the first for the band.
"Years ago it was difficult to hear our music but here we are," Rolling Stones singer Mick Jagger told the crowd in Spanish. "The times are changing."
After the Cuban revolution, rock music was banned.
The concert was the result of months of diplomacy after the United States and Cuba announced that they would repair decades of broken relations.
Perhaps aware that many of the Cubans attending had not heard much of the band's music, the Stones played many of their most familiar classics, like "Paint it Black," "Sympathy for the Devil" and "Brown Sugar."
Given the low wages of most Cubans, the show was free.
Cuban police and soldiers walked around the concert but it was marked by a mostly joyous atmosphere.