Tens of thousands of joyful New Zealanders have braved a thunderstorm in Auckland to welcome home the America’s Cup winners, who held the Auld Mug aloft on these shores for the first time in 17 years.

The Emirates Team New Zealand members waved at the crowd from the backs of vans for a slow, noisy procession down Queen Street to Waitemata Harbour, where they boarded a boat for a victory tour on the sea – dozens of yachts, sea kayaks and dingies floating by to catch a glimpse.

Many people skipped work and school on Thursday to watch the parade live, not wanting to miss out on the historic moment.

Daryl and Liz Kirk brought their two young daughters – nabbing prime positions outside Aotea Square and setting up camping chairs to ensure no one stole their spot – a full two hours before it began at lunchtime.

“This is a pretty historic event for us as Kiwis and we wanted the kids to be here and remember it,” said Daryl.

“Being a Kiwi means doing your best with not many resources, and being far away, but these boys are the world’s best, and as you can see today the whole country is really proud of what they’ve achieved. We all love it.”

The parade started in sunshine and ended amid claps of thunder and torrential rain. Office workers pressed themselves against windows to watch and builders paused on their scaffolding high above the city to whoop and yell.

Seagulls swooped above the cheering crowd dancing to a brass band version of James Brown’s I Feel Good. Some people had travelled from around the North Island to shout “Kiwi, Kiwi” and “Peter, Peter!” for helmsman Peter Burling, who, at 26, is the youngest person to ever win the America’s Cup, and an instant hero for locals with his uncanny resemblance to Sir Edmund Hillary.

“I wanted to support the team, I felt so happy and excited when they won,” said 14-year-old Ace Mead who missed school with her three sisters to attend the parade.

“I think the team won because they had courage and faith, and they had the whole country behind them. I got up to watch every game with my Dad.”

Many of the team – dressed in black and blue tracksuits – looked worn out from their feat in Bermuda, but their faces cracked into huge grins as the crowd embraced them, throwing colourful streamers over their heads and waving handmade signs.

This week the government announced NZ$5m in funding for the team to try and keep their sailing talent in New Zealand, but today Australian skipper Glenn Ashby told TVNZ he had already received phone calls from rival teams trying to poach him.

“I think all the guys are highly sought after because we have been able to pull of something absolutely fantastic” he said.

A number of the sailors bowed their heads at the start of the parade to hide puffy eyes, blinking back tears they were unable to control. Having only arrived back in the country yesterday, they have yet to see some friends and family, and many said they were keen for a few quiet days to recoup and process before journeying south for parades in Wellington, Christchurch and Dunedin.

“Thank you for your display of what is best about a small country from the bottom of the world,” said the prime minister, Bill English, from a podium by Waitemata harbour, his grey suit drooping in the rain.

“You are a group of ordinary Kiwis who have done something extraordinary,” he said, before giving cause for laughter with one of his characteristic stumbles: “You’ll also be helping Kiwis get off the shelf … ah, off the couch.”