Hillary Clinton has cast her vote in the presidential election, describing the moment as "the most humbling feeling".

Taking part in the election which she is the firm favourite to win, the Democrat was greeted by supporters outside the ballot box in her hometown of Chappaqua New York.

She was joined by husband and former President Bill Clinton, who said he's already "good" at being a political spouse, joking that he had "15 years of practice".

"I know how much resposibility goes with this," she said. "What it means for our country... and I'll do the very best I can if I am fortunate enough to win today."

Earlier, Ms Clinton's vice presidential candidate Tim Kaine joked that he was beaten to being the first to vote at his polling booth by a 99-year-old woman named Minerva Turpin.

Mr Kaine refused to let the biggest election of his life get in the way of his Tuesday routine.

After voting at 6 am and doing a round of national morning TV shows, he met a group of friends for breakfast at the City Diner in Richmond.

According to the AP, Kaine and his friends try to meet every Tuesday at the diner, a few miles from his home.

The US senator and former Virginia governor was greeted with cheers as he walked into the restaurant .