The band arrived yesterday evening in the Cuban capital where the concert will be held.
"Obviously something has happened in the last few years," lead singer Mick Jagger said in English. "So, time changes everything... We are very pleased to be here and I'm sure it's going to be a great show."
The concert comes three days after President Barack Obama wrapped up a visit to the communist-run island during which he declared an end to the last remnant of the Cold War in the Americas.
Cuban musicologist Joaquin Borres characterized the event as "very important," saying it would be the biggest rock concert of its kind ever on the island. He predicted that it would encourage "other groups of that stature to come and perform."
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The band's private plane flew into Jose Marti airport with the four British rockers and about 60 technical workers and family members.
The Rolling Stones also transported a great amount of gear to the island for the concert, including seven huge screens and 1,300 kilograms of sound equipment.
The concert will be held outdoors at Havana's Ciudad Deportivo, where nearby streets were blocked to traffic beginning yesterday.
In the heat of Cuba's revolution from the 1960s to the 1980s, foreign bands such as The Rolling Stones were considered subversive and blocked from the radio. Rock music such as the Stones' wasn't officially prohibited in public, but it was disapproved of. Cubans listened to their music in secret, passing records from hand to hand.