"King of the High Wire" Nik Wallenda successfully completed his tightrope walk on a 2-inch steel cable over the Grand Canyon. He was welcomed with excited cheers after his dangerous and historic stunt.

The well-known aerialist took 22 minutes and 54 seconds to walk the 1,500 feet high canyon while beneath him was the Little Colorado River Gorge. Wallenda's most ambitious stunt was broadcasted live via television and computer and watched by people around the world.

Wallenda, a Christian, walked the 2-inch thick steel cable without a tether or safety net. He could be heard praying while doing the walk. "Definitely whipping that cable .... Golly, wind. Go away, in the name of Jesus ... Thank you, Lord. Thank you for calming that cable, Lord ... Oh, yeah. That's my savior. That's Jesus," he said.

He admitted that the walk was stressful. He stopped and crouched twice as winds of up to thirty miles per hour stirred the rope and had an unsettling rhythm. "It was strenuous the whole way across. It was a battle. The winds were strong, they were gusty," he said to the reporters. ""But there was never a point where I thought, 'oh my gosh, I'm going to fall."

Wallenda belongs to a family of acrobats and is a seventh-generation of the "Flying Wallendas". "It was a dream come true," he said. "This is what my family has done for 200 years, so it's part of my legacy."

The 34-year old high wire walker was the first person to cross the Grand Canyon. He also made history last year when he was the only person to complete a high-wire walk over the Niagara Falls.

For his future tightrope walk, Wallenda is eyeing to cross New York's Chrysler Building and Empire State Building.

Watch the hair-raising stunt below: