Former US President Donald Trump has invited his family on stage to express gratitude for their heartfelt support during his "last rally" of the election.

At a campaign rally in Grand Rapids, Michigan, Trump took a moment to thank his closest supporters as Monday night transitioned into Election Day.

"This group here they are so committed. They didn't have to do this ... I love them but they are really special. 

They're very talented people. Every one of them," Trump said.