An historic day in U.S.-Cuba relations.

And it began with the release of American aid worker Alan Gross after five years in a Cuban prison.

(SOUNDBITE) (English) ALAN GROSS, AMERICAN AID WORKER, SAYING:

"What a blessing it is be a citizen of this country."

His release - more than a year in the making - comes amid a plan by U.S. President Barack Obama to normalize relations with Cuba.

(SOUNDBITE) (English) U.S. PRESIDENT BARACK OBAMA SAYING:

"Neither the American nor Cuban people are well served by a rigid policy that's rooted in events that took place before most of us were born."

Key changes include opening a U.S. embassy in Havana, where it now has an interests section, a review of Cuba's designation as a state sponsor of terrorism; and the expansion of travel and trade.

An end to the trade embargo, however, needs congressional approval.

Cuba is also releasing an intelligence agent who spied for the U.S. and was held for nearly 20