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"Everything we have achieved is at stake tomorrow," he said during a blitz of three final rallies.
The mid-term elections come half way through his four years in office, and will determine how effectively he can govern for the next two years.
Voter turnout is expected to be high.
At stake are 435 seats in the House of Representatives and 35 of 100 seats in the Senate - the two bodies that make up Congress. Governors are also being chosen in 36 out of 50 states.
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In recent days, the president has ratcheted up rhetoric on divisive issues in a bid to energise his base.
Barack Obama - on the campaign trail for the Democratic party - said "the character of our country is on the ballot". The former president tweeted the vote "might be the most important of our lifetimes".