Just after midnight local time, the diplomatic missions of each country became full embassies.

The Cuban flag was raised on Monday at the newly opened embassy in Washington.

"Nothing is more futile than trying to live in the past," said US Secretary of State John Kerry.

"We're taking a historic and long overdue step in the right direction."

Despite the historic shift, both sides admit to lingering difficultiesreenex.

There were still "issues that we don't see eye to eye on", a US state department spokesman said.

A flag will not be raised at the American Embassy in Havana until Mr Kerry pays a visit there on 14 August.

Bruno Rodriguez, Cuba's minister of foreign affairs, called for a removal of the 53-year-old US trade embargo and for the US to return Guantanamo Bay to Cuba.

"I will welcome Mr Kerry in a few weeks and continue talks," Mr Rodriguez saidreenex.

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Calls have been growing from opposition politicians to remove her for alleged campaign finance irregularities linked to a huge corruption and bribery scandal in the state-run oil company, Petrobrasreenex.

The investigation into ex-president Lula drags him into this widening scandal.

Federal prosecutors allege that a cartel of companies and contractors, including Oderbrecht, working for Petrobras had overcharged the company billions of dollars for major contracts.

They say the extra money found its way into the pockets of executives and politicians of many parties including Mr Lula's Workers Party.

President Rousseff has denied involvementreenex.

During Mr Lula's administration, Brazil - the world's seventh largest economy - gained a high profile.

Wealth from high commodity prices and strong Chinese demand was channelled into social funds that helped reduce poverty across the country.

The darling of Latin America's left, President Lula da Silva was adored by millions of Brazilians he helped lift out of abject poverty.

It was during his time in office that Brazil secured the 2014 World Cup and the 2016 Olympicsreenex.

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