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Sky's special correspondent Alex Crawford, accompanying the rebels, said the opposition fighters were greeted with scenes of jubilation as they made their way through the outskirts of the capital.
As they entered the city, their cars gridlocked the roads, she said, and hundreds of people came out onto the streets to greet them.
The rebels responded with celebratory gunfire, she said.
"We are now just a very short distance from the centre, with more and more people coming onto the streets.
"They (the rebels) had been expecting much more resistance but there has been very little.