The Minnesota Orchestra last came to the island 85 years ago -- decades before the Cuban Revolution.
The orchestra received a five-minute-long standing ovation after the two-hour long performance of works by Beethoven at Havana's National Theater.
Following the ovation, the orchestra's musical director Osmo Vanska struck up a polka from his home country of Finland.
The orchestra is scheduled to perform again on Saturday.
The concert comes just days before American and Cuban officials were meet in the United States to discuss reopening embassies, in a new round of negotiations.
President Barack Obama and Cuban President Raul Castro announced on December 17 that the former Cold War foes would restore full diplomatic ties severed in 1961.
The rapprochement has created a potential opening for a variety of cultural exchanges as the two nations work to restore relations.