Voting has begun across the US as Kamala Harris and Donald Trump finished their campaigns in key battleground states, arriving in the cities where they will watch returns in what polls suggest is one of the closest presidential contests in modern history.

Trump touched down in south Florida on Tuesday morning after wrapping his campaign in the swing state of Michigan, where he held his final rally in the same city he finished the 2016 and 2020 campaigns, Grand Rapids. Harris arrived in Washington DC, after closing her campaign with a star-studded appearance in Philadelphia.

By noon ET, polls had opened in every state across the country, including the seven swing states that are expected to decide the race. According to the Financial Times poll tracker, Harris holds a 1.5 percentage point lead over Trump nationally.