President Barack Obama arrived in Cuba on Sunday on a historic visit, opening a new chapter in U.S. engagement with the island's communist government after decades of animosity between the former Cold War foes.

Obama landed at Havana's Jose Marti International Airport aboard Air Force One, the presidential jet with "United States of America" emblazoned across its fuselage, a sight almost unimaginable not long ago.

Stepping down onto the red carpet in a light drizzle, Obama and his family, smiling broadly and with umbrellas in hand, were greeted by Cuban Foreign Minister Bruno Rodriguez. They then boarded a black armored limousine, with U.S. and Cuban flags fluttering from the hood, and headed out in their motorcade.