While we're on the topic of swing states (see our last post), let's take a look at the latest polling data from all seven as crunch time fast approaches.

As has been the case for the past few weeks, the leads in each are too small to effectively say who's ahead - particularly when factoring in a margin of error of around three to four percentage points.

At the last check in a few hours ago, the data suggested small leads for Trump in Nevada, Georgia, North Carolina and Arizona, with similarly minor leads for Harris in Wisconsin and Michigan. The pair appeared to be tied in Pennsylvania.

• Get up to speed with each state, including the issues voters say matter the most to them

Harris and Trump finished their campaigns with stops in Pennsylvania and Michigan respectively - but why?

In short, because they're two of the seven swing states that will decide the result of this election.

Pennsylvania’s prized 19 electoral votes have made it one of the most visited by both candidates. In 2020 it was one of the last to be called, with Biden - who's originally from the state - eventually taking it.

Michigan holds 15 electoral votes and is considered a must-win state for both presidential candidates. For several decades, Michigan was part of the so-called "blue wall" states, reliably voting for Democrats in presidential elections.

But Trump bucked that trend when he won in 2016, before Biden took it back for the Democrats in 2020.

Image source, EPA-EFE/REX/Shutterstock

Donald Trump and Kamala Harris, the Republican and Democratic presidential candidates, have ended their campaigns on different notes, while rallying their supporters.

As we reported a short while ago, Trump gave his final speech in Grand Rapids, Michigan, where he was met with cheers despite a late start.

He spoke at length on various topics, including immigration and unemployment, and also took the opportunity to criticise Harris - saying she had broken the country but that he would lead it to "new heights of glory".

Harris, meanwhile, barely mentioned her competitor. She delivered her last speech in Philadelphia, Pennsylvania, where she focused on the "optimism" of her campaign and said in an appeal to young voters: "I see your power and I am so proud of you".

• For more on their two visions for America and how they could collide as today unfolds, read analysis from our North America editor Sarah Smith

Image source, Reuters

Image source, Getty Images

One of the world's most popular podcasters, Joe Rogan, has endorsed Donald Trump, days after the former president appeared on his show.

The endorsement came after Rogan interviewed another of Trump's political allies, Elon Musk.

Rogan says Musk makes a "compelling case" for the Republican candidate and adds that he agrees with him "every step of the way".

"For the record, yes, that's an endorsement of Trump," Rogan says.

Sam Hancock
Live page editor

It's US election day and in the next few hours, America will wake up to choose its next president.

More than 82 million people have already cast their ballots, but there's still a huge number to go - in 2022, there were around 161 million people registered to vote in the US.

In her final pitch to voters, Democratic candidate Kamala Harris told a rally in swing state Pennsylvania that she wanted to end her campaign "with energy, optimism, joy".

Republican Donald Trump ended his campaign in Michigan - another swing state - where he accused his opponent of being a "radical left lunatic", before welcoming his children to join him on stage. His speech was delayed and has just finished.

What happens now? Well, the majority of the US's East Coast is asleep - the local time there is 02:10 - meaning it'll be fairly quiet there for the next few hours.

But we in London will bring you all the latest, including campaign reflections and a look at what you can expect today. There's plenty to get through, so let's get going.

Image source, Reuters

Trump has just rounded off in the Van Andel Arena in Grand Rapids, Michigan, where the time is 02:09. His final rally has seen him returning to the predominant themes of his campaign - the economy and immigration.

He repeated some of his election pledges, including that he wants the death penalty for any migrant who kills a law enforcement officer or an American citizen.

The former president also spent a large part of his speech attacking Kamala Harris and Joe Biden and their record over the last four years, but underlined his ambition to "fix every single problem our country faces".

"I think we’re going to have a great result later," he told attendees. "I think we’re going to win in Michigan."

At the close of the rally Trump's children joined him on stage, paying tribute to him and encouraging everyone to vote.

"In conclusion, with your vote we're going to fire Kamala and we're going to save America. We will cut your taxes and inflation, slash your prices, raise your wages and bring thousands of factories back to America and back to Michigan and a lot of it will be using my favourite word - tariff," he said to cheers.

While Donald Trump finishes his final rally speech, we wanted to bring you the first result of election day - and it's a tie between Kamala Harris and Donald Trump.

The very first polls in the US opened at midnight in the remote, unincorporated New Hampshire township of Dixville Notch.

The community has a tradition of midnight voting. And the result? A clean split - three for Harris and three for Trump.

• In case you're interested: Other polls in New Hampshire won't open until later on when America wakes up - rules state they must be open by 11:00 local time (16:00 GMT).

Anthony Zurcher
BBC North America correspondent

Polling, even at the best of times, is an inexact science.

Pollsters adjust their raw data based on assumptions about who is actually going to cast ballots, who will stay home and whether the information gathered is an accurate representation of the larger voting public.

The outcome of these assumptions can dramatically shift the poll results - and that isn’t even taking into account that every poll has a baseline statistical “margin of error”.

The polling in this presidential race - particularly in the key battleground states – shows a statistical dead heat that is well within the margin of error, even leaving aside pollster choices on how to adjust their results.

That means, at least based on polling, it’s essentially impossible to say that one candidate or another has a better chance of winning.

This doesn’t mean that once the dust settles there won’t be a clear winner, as all of the swing states could break toward one candidate - in fact, they often do.

• Read more: US election polls: Who is ahead - Harris or Trump?

Whether you want to follow the election via online, TV, radio or podcasts, the BBC has got your back.

Here is how to get the very latest on this pivotal election across all our platforms.

If you're just joining us, Donald Trump is still speaking in Grand Rapids, Michigan. He was due on stage hours ago but arrived late - it's past 01:00 local time and he's still addressing supporters.

Unlike Kamala Harris, who barely mentioned the Republican candidate during her final day of campaigning, Trump has been laying into his opponent, calling her a "radical left lunatic".

He tells his supporters he will win today's election, saying: "This will be the single greatest victory, politically speaking, in the history of our country."

Image source, Getty Images

Donald Trump has taken to the stage in Grand Rapids, Michigan, for his final speech, where he is met by cheers from the crowd.

This is also where he ended his campaigns in 2016 and 2020.

"Doing four of these [rallies] in one day is a little difficult," Trump said, but added the support he received at each rally has "made it all worth it".

The former US president was nearly two hours late to this last rally, which was scheduled to begin 22:30 local time.

He went on to ask those in attendance if they're better off now than they were four years ago, to which crowds at the rally respond with loud boos.

"My message to you, and to all Americans tonight, is very simple: we don't have to live like this."

Image source, Reuters

If you're just joining us, Kamala Harris has just delivered her last speech of the campaign in Philadelphia.

She ended her weeks-long run of appearances by reflecting on a campaign she says "brought together people from all corners of the nation, and all walks of life".

Harris went on: "Ours is not a fight against nothing, but for something... Tonight we finish as we started: with energy, optimism, joy."

She made a familiar appeal to young and new voters, saying. "To you in particular I say I see your power and I am so proud of you."

The vice-president knows she will need young voters to back her in big numbers if she is to win today's election.

Sarah Smith
North America editor

There is no doubt the tone of this campaign has raised the stakes, ratcheting up anxiety and tension, meaning the aftermath of this election could be explosive.

We are expecting legal challenges and street protests would be a surprise to no one.

This is a nation split between opposing visions of what's at stake. But it is in the polling stations that Red and Blue America will meet and be counted.

Whatever the result, roughly one half of the country is about to discover that the other half has a completely different sense of what America requires.

For the losers, this will be a stinging realisation.

It is midnight on the east coast of America and polling day has arrived.

We have moved our live page to this new home. This is where we'll be bringing you the latest updates and analysis.

Kamala Harris has just finished her last speech of the campaign in Pennsylvania, and we're still waiting to hear Donald Trump deliver his final remarks in Michigan.

Stay right here for what promises to be a massive few days for America and the world.