Wallenda described the difficulties of dealing with the wind and heavy mist from the roaring falls.
"I'm extremely blessed to be where I am, " Wallenda said after stepping onto Canadian soil.
Wallenda is the first person in recent history to cross over the actual falls.
Everybody has been buzzing about Nik Wallenda and his daredevil crossing over Niagara Falls this week.
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"It's been a dream of mine for a long time, " Wallenda told CNN before the Niagara Falls attempt.
Thousands were on hand to watch Wallenda teeter his way on the 2-inch-wide wire over Horseshoe Falls toward Canada.
Building cars like this requires Wallenda-like coordination between the automaker and its suppliers.
His great-grandfather Karl Wallenda died at 73, attempting to walk between two buildings in Puerto Rico in 1978.
Last June, Wallenda captured the nation's attention during his 25-minute agonizing amble above the roaring rapids of the Niagara.
Nik Wallenda, a seventh-generation member of the Flying Wallendas family, raised money and walked across Niagara Falls on a tightrope.
His great-grandfather Karl Wallenda was killed at the age of 73, attempting to walk between two buildings in Puerto Rico in 1978.
The Artisan Cheese Company has renamed its grilled cheese sandwich to Wallenda grilled cheese for the day, CNN affiliate WWSB reported.
"To inspire people around the world to follow their dreams and never give up, " Wallenda said, pulling his passport out of a waterproof bag.
Wallenda, a U.S. passport tucked in his pocket, pumped his fist in the air and sprinted the last few steps on the two-inch-wide wire.
Wallenda is the first person in recent history to cross over the actual falls, braving the thick mist and roaring waters, according to the affiliate.
Wallenda, who hails from multiple generations of high-flying daredevils, had a near fall as he stumbled on a tightrope above Baltimore's Inner Harbor earlier this year.
After Ferdinand, Old Friends asked Japanese breeders to let them know when the horses have peaked and have since rescued Creator, Sunshine Forever, Fraise, Ogygian and Wallenda.
Wearing a red and black rain jacket and a balance pole around his neck, Wallenda appeared calm and focused as he took small steps, gingerly placing one foot in front of the other.
When asked by ABC how he planned to top the walk over Niagara Falls, Wallenda said he hopes to become the first person in the world to walk a tightrope across the Grand Canyon, in Arizona.
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