Trump's rally was scheduled for 7:30 p.m. at the Fiserv Forum where the Republican National Convention was held in July. He didn't take the stage until after 9 p.m.
Harris's rally began around 8 p.m. and featured speeches by celebrities Keegan Michael Key and Cardi B, performances by MC Lyte and GloRilla, and remarks from Milwaukee Mayor Cavalier Johnson and U.S. Senator Tammy Baldwin. The vice president took the stage just after 9:20 p.m.
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The candidates delivered very different closing arguments Friday night.
"Every problem facing us can be solved," Trump told the crowd. "But now the fate of our nation is in your hands. We win this state, we win the whole thing."
"We're not going back," Harris told her cheering, chanting crowd, "because just like Wisconsin's motto tells us, we will move forward."
And they offered very different visions of the country's future.
"We need responsible leaders who know that strength is not about who you beat down but the strength of a leader is who you lift up," Harris said.
"We can't take anymore. Kamala, you're fired," said Trump.
Harris' supporters - families, couples and packs of young people flooded into the Wisconsin state fairground, eager to see and hear what she has to offer the state that the last female presidential candidate famously left behind. Wisconsin Democrats worked hard to win the state back in 2020.
"We're all wanting the same rights, and for some reason some people don't believe that America is all the people included," said Mia Simth, Harris supporter.
"For me it's just simple. Saving democracy. Literally keeping us, the American experiment of 250 years alive." said Joe Wiesner, Harris supporter.
In downtown Milwaukee, many Trump supporters lined up hours early. Many in line were also from out of state, mostly from Illinois.
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They said immigration and the economy are their galvanizing issues.
Kathy Lurz of Barrington said she's voting for Trump, "For our Freedom, for our country. For the rights t just be who we are, illegal immigration. I believe in his values. Some things I don't believe in, but that I believe in."
"Hoping this is going to be the change we need and done fairly this time around," said Jessica Wells of Chicago.
But we found at least one person who hasn't yet made up their mind.
"Still undecided," said Aidan Rossie Weida, who is from Wisconsin and is voting for the first time. "I'm leaning toward Kamala, I would say, but I want to see Trump the man, not Trump the idea."
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Polling shows the candidates essentially deadlocked in Wisconsin. Four of the past six presidential elections in Wisconsin have been decided by less than a point, or fewer than 23,000 votes.
Milwaukee is home to the most Democratic votes in Wisconsin, but its conservative suburbs are where most Republicans live and are a critical area for Trump as he tries to reclaim the state he narrowly won in 2016 and lost in 2020. One reason for his defeat was a drop in support in those Milwaukee suburbs and an increase in Democratic votes in the city.
Harris will hold a rally in West Allis, one of those crucial suburbs, at the state fairground at 8:30 p.m. Friday night.
Before heading to Milwaukee, Harris campaigned in the southern Wisconsin city of Janesville, where she talked up her support for organized labor in a speech at an International Brotherhood of Electrical Workers local.
"Nobody understands better than a union member that as Americans we all rise or fall together," Harris said. She promised to eliminate "unnecessary" degree requirements for federal jobs and push private sector employers to do the same.
She called Trump an "an existential threat to America's labor movement."
Harris said Trump is "one of the biggest losers of manufacturing jobs in American history," hanging on the word "loser' as she was flanked by union workers in bright yellow T-shirts.
The Associated Press contributed to this report.