It's the first time the British rock band - which was one banned there - has played in the country.
Fans travelled to the area to watch the concert as they queued for hours to get to the grounds of Ciudad Deportiva in Havana, the venue of the historical concert.
The group followed with It's Only Rock 'n Roll (But I Like It), which may carry extra meaning for Cuban fans who once faced discrimination for their musical tastes. The Stones performed in a free concert in Havana, becoming the most famous act to play Cuba since its 1959 revolution.
At its prime, the communist regime scowled on USA and British bands that ownership of Beatles and Rolling Stones albums had to be done quietly.
People started gathering at the Ciudad Deportiva de la Habana football and baseball fields 18 hours ahead of time.
"We know that years ago it was hard to listen to our music here in Cuba".
"I think we'll see continuity on the church's role in human rights, and also its important charity work as well", says R. Andrew Chesnut, the Bishop Walter F. Sullivan Chair in Catholic Studies at Virginia Commonwealth University and scholar of Latin American history.
Friday night, the rock band took to the stage in Cuba, performing for what they said was probably their biggest crowd ever.
"We didn't manage to be the first, but from this spot we're sure not to miss a single detail", said Stones fan Swnien Morera, 27.
The crowd danced, swayed and for one long spell joined Jagger, 72, in intense back-and-forth singing, seemingly sending a message that the time has come to move on. I made my way up to the tip of the catwalk, where Jagger often strolls out from the main stage and into the crowd, including for the duet with Sasha Allen on "Gimme Shelter". I've always dreamed about this. "I couldn't sleep knowing he would be here". Noticeably absent were would-be entrepreneurs selling T-shirts or memorabilia. These were held up by people wearing the iconic shirts of the band showing the trademark lip and tongue. It is estimated that The Rolling Stones were greeted by about half a million fans on Friday night.
The band's advancing years did not stop the youngsters in the audience enjoying the show, however.
On Good Friday, rock's best-loved dinosaurs - with a combined age of 286 - became the first Western band to play in Cuba since the Communist Revolution.
For Juan Carlos Leon, 57, the event was more than special.
"I have the impression that it's the start of a new era where the country will open up a bit to other countries' culture and influence", Rocky said.