A 'dream came true' for Valentino Rossi on Tuesday when the local legend got to ride a YZR-M1 on public roads from his Motor Ranch in Tavullia to the Misano circuit, venue for this weekend's San Marino MotoGP.

Along the way, the nine-time world champion was cheered by fans as he passed through Tavullia town square, before also stopping off at the VR46 headquarters (pictures below).

Once at the circuit, Rossi completed a lap of the track before parking his machine in the Monster Yamaha pits.

“It’s great, it’s really like a dream come true," Rossi said. "When we were younger riding our 50cc scooters, we always dreamed of going through Tavullia on a MotoGP bike and today it came true.

"So it was a fantastic moment, great emotions and I enjoyed it very much. The M1 on the road is good! I felt good, and in Tavullia in our centre there were a lot of people and fans, and I think they enjoyed it a lot too.

"This one is really my home grand prix, my home is 10km from here! I grew up here in Misano, the first time I rode a bike on a track was at Misano.

"This weekend we expect a lot of people, a lot of fans and a lot of yellow caps…so we’ll try to give the maximum to be strong and competitive!"

Rossi, winner at Misano in 2008, 2009 and 2014, hasn’t finished on the MotoGP podium for the past nine races but made a front row return with second on the grid last time at Silverstone.

The Doctor was then fourth quickest at the Misano test where he tried a new exhaust, carbon fibre swingarm and aerodynamics - all of which could be seen on track this weekend.

Rossi leaves the Motor Ranch on his M1.

Rossi on the road with his M1.

Rossi rides through Tavullia.

Rossi stops at Tavullia town square.

Rossi outside the VR46 headquarters.

Rossi rides through the entrance to the Misano circuit.

Rossi's journey is complete as he wheelies over the line after a lap of the Misano track.