The Wales team have boarded an open top bus to take a tour around the city as part of their welcome home.
The players chanted on the bus and waved at people watching from nearby buildings.
This is the moment thousands of Wales fans greeted their football team as they arrived back from the 2016 Euro Championship in France.
The Wales team are in Cardiff Castle waiting to board their open top bus for a tour of Cardiff and one player couldn't resist a selfie.
Aaron Ramsey climbed onto the castle walls for a quick snap with hundreds of fans lining the streets.
Wales fans dressed as dragons, waved flags and painted their faces in preparation to welcome the Wales football team back home.
Police officers have been helping to maintain safety as crowds gather in Cardiff, and have been enjoying the atmosphere in the city too.
This policeman led chants for the crowd:
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The Wales team are expected to start their open top tour of Cardiff at around 4pm.
Already the crowds have piled up to welcome their boys back.
The Wales team's faced an excited crowd at the airport, where children dressed in Wales shirts awaited their heroes with huge grins.
The players signed t shirts and notebooks as they walked through the airport. Hundreds more waited for the team outside.
Thousands of people are to flock to Cardiff City Stadium tonight to welcome home the Welsh football team after they made it to the semi finals of Euro 2016.
It was the first time the national team reached a major tournament since 1958.
ITV News Wales correspondent Rupert Evelyn reports on the preparations for the party:
The Wales team are due to fly into Cardiff in the next few hours to face a heroes' welcome after their semi-final success in Euro 2016.
The players are currently at Dinard Airport in France to catch the plane home.
Meanwhile at the Cardiff City Stadium a red carpet is being rolled out. A concert and homecoming event will begin later.
The Secretary of State of Wales Alun Cairns, said they were an inspiration.
Their achievement in the Euro 2016 Championships has been immense and we are so proud of each and every one of them. They are an inspiration to all.
The Welsh fans throughout the competition conducted themselves with exemplary behaviour and did their nation proud."
We can not underestimate the value of football as an international currency, this has been an incredible advert for Wales, really cementing our position in the eyes of the world."
Now is the time to celebrate the FAW and their historic achievement."
Wales manager Chris Coleman was in good spirits at the final Welsh press conference of Euro 2016.
When asked about the significant amount of prize money that Wales earned by reaching the semi-finals, Coleman jokesd: "I think it's bad timing for me that I've already signed a new contract!"