The United States says it will oppose a U.N. resolution that condemns the U.S. embargo on Cuba, saying Cuba is "mistaken" if it thinks the measure will improve efforts to normalize relations.

Nonetheless, U.S. deputy ambassador Ronald Godard said ahead of Tuesday's vote that the U.S. remains committed to working toward normalizing relations with Cuba, which could take years.

Cuba's Foreign Minister Bruno Rodriguez told the assembly in introducing the draft resolution that the United States must lift its commercial, economic and financial embargo against Cuba to make progress toward normalizing relations.

"The lifting of the blockade will be the essential element to give some meaning to the progress achieved over the past few months in the relations between both countries and shall set the pace towards normalization," he said.