BOSTON (AP) ? Republican U.S. Sen. Scott Brown and Democratic challenger Elizabeth Warren have cast their votes.

Brown waited in line with his family at Wrentham Middle School in his home town on Tuesday morning before voting.

WBZ NewsRadio’s Mark Katic reports

Scott Brown heading in to vote in Wrentham Tuesday morning. (Photo by Mark Katic)

Warren was accompanied by her husband and more than a dozen other family members when she voted at the Graham Parks School in Cambridge.

WBZ NewsRadio’s Karen Twomey reports

Elizabeth Warren heads out to vote Tuesday in Cambridge. (Photo by Karen Twomey)

Brown said he was happy to see a strong turnout and said he’d done all he can and it was now up to the voters.

Both candidates have plans to spend the rest of the day visiting other polling places and phone banks before settling in to wait for results.

The race has been the most expensive political contest in Massachusetts history and multiple polls have failed to show a clear-cut winner.

Copyright 2012 The Associated Press.