The match, taking place with a huge security presence of 4,000 policemen, is the first in Pakistan since gunmen attacked the Sri Lankan team bus in Lahore on March 3, 2009, killing eight people and injuring seven visiting players.
Pakistan president Mamnoon Hussain opened proceedings by shaking hands with both sets of players as the crowd rose to a glittering firework display.
Cast into sporting exile following the 2009 attack, Pakistan have incurred financial losses amounting to $120 million by having to play their "home" games on neutral venues like the UAE, according to an official estimate.
Pakistan is desperate to revive sporting fixtures at home, and must ensure this is the first of several incident-free tours to restore confidence.
The series, comprising two Twenty20s and three one-dayers, was almost scuppered last week after militants killed 45 minority Shiites in an attack on their bus in Karachi.
But Zimbabwe Cricket (ZC) finally gave its green light with a week to go, and since then the two sides have exchanged expressions of mutual brotherhood.
He added: "The whole nation is celebrating the return and we hope that this series against Zimbabwe will pave way for more countries to come to Pakistan."
Former captain Wasim Akram said: "It's exciting."
"Cricket has suffered badly in Pakistan with no international activity, fans were deprived and grounds were left deserted but I am sure with this small step more cricket will come to our country.
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