The crowd's excitement was palpable as the athletes and trophy sail past, with screams and cheers only getting louder.
Other boaties showed their support, waving New Zealand and All Blacks' flags from the decks of their yachts.
Team New Zealand boss Grant Dalton earlier confirmed to the crowd they'll be heading to Wellington on Tuesday, Christchurch on Wednesday and Dunedin on Thursday.
And it doesn't stop there.
He said they will make sure, in conjunction with their sponsors, they'll tour the cup to the provincial centres, saying "the heartland of New Zealand where the real people live.
Dates for the heartland tour are still be be confirmed.
"Some of us are old enough to remember 1995 and how amazing that was, Dalton said,
"Until you actually experience it, you can only imagine, it's quite phenomenal."
His message to those who had come to the parade, was: "For coming out to support us... we are very proud Kiwis and we are just in awe of every single one of them."
Team NZ helmsmen Pete Burling says the screaming crowds today were "unreal" to come home to.
"It's been a whole heap of hard work for our team and it feels pretty special to bring it home."
His parents Heather and Richard Burling were at the Viaduct to cheer on their son.
"It's unbelievable what they've done, what the team's done," Richard told Tony Veitch.
Peter Burling and his Emirates Team New Zealand are parading along Auckland's Queen St with the Auld Mug before taking to the harbour.
It is the first time since 1995 that the America's Cup has landed on New Zealand shores and fans were keen to welcome the cup home.
Follow our coverage and embrace the atmosphere no matter where you are.
