Kim Mi-hyeon, Choi Young-sil, and Jang Myung-jin triumphed for South Korea at the International Exhibition Centre, scoring 7.52 points in the final against the United States to their opponents' 7.20.

Brazil and Mexico both claimed bronze medals after losing in the semi-finals.

In the first individual event of the Championships, it was American Barbara Brand who came out on top in the women's under-65 category, beating Belgium’s Vera Moens to gold.

Canada's Shelley Vettese Baert and Austria's Leni Niedermayr both took bronze medals.

The Opening Ceremony had taken place in Goyang earlier in the day, with World Taekwondo President Chungwon Choue welcoming the return of the Championships after a four-year absence because of the COVID-19 pandemic.

"Taekwondo is a gift to the world and is a great unifier of society, but poomsae in particular is truly a sport for all," the South Korean official claimed.

"You just have to look at the athletes who are competing in Goyang this week - we have athletes who are teenagers and we have athletes who are grandparents.

"Age is truly just a number to taekwondo.

"Over the past two years, World Taekwondo has promoted poomsae events to help society get over the pandemic.

"The fact that we are here together is testament of humanity's unity against adversity and the role of poomsae as a contributor to health and fitness."

The athletes' oath was taken by Yeva Gavrylova - the only Ukrainian athlete taking part - and South Korea's No Min-ki, and the referees' oath by Mongolia’s Erdenbaatar Naranchimeg and Kim Gyu-rin of South Korea.

Poomsae is a demonstrative form of the martial art, providing a non-combat alternative to ensure that taekwondo can approach different audiences.

The Championships are set to run until Sunday (April 24).