"The Cuban parliament today gave its unanimous support" to the bilateral thaw, which was outlined Wednesday in a speech by President Raul Castro, the Cuban news agency Prensa Latina said shortly after the start of the session.
Castro chaired the twice-yearly meeting of parliament Friday in a session largely focused on the communist island's historic renewal of relations with the United States.
Castro was due to give an evening address to close the session, which was also attended by the "Cuban Five," the group of intelligence agents jailed in the United States whose last three members were released in a prisoner exchange that paved the way for Wednesday's landmark rapprochement.
The session was scheduled to focus on economic issues, but state media reports in Cuba had indicated that Havana's historic rapprochement with the United States would be a dominant theme.
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"This ordinary session has the historic singularity of being held with the five anti-terrorist heroes back in the motherland and the announcement that Cuba and the United States have reestablished diplomatic relations," said state news agency AIN.
Cuba's 612-member parliament, the National Assembly of Popular Power, has no opposition representatives and meets twice a year.
Despite Castro's tentative steps toward reform since taking over from his older brother Fidel in 2006, the Cuban economy will achieve just 1.3 per cent growth for 2014, the council of ministers said earlier this month.