Yes, they usually hand them out on the plane and you fill them out before you get there.
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While on your flight, your flight attendant will distribute a Customs Declaration Form. Most forms ask the point of exit and entry of your flight, your flight number, and what goods you may be bringing into the country (forms might list prohibited items for the respective country).
If you don't have a USPS Customs Form Envelope, you can also place those extra customs form sheets in a regular envelope or a ziplock bag that you label with the phrase Customs Forms, and affix that envelope to the outside of your package.
Depending on the carrier, package type, and destination, you'll print one of two customs forms. For many carrier services, your customs form is combined with the shipping label you attach to your package. Some deliveries require a multi-page form that should be attached using a clear envelope.
How long does customs usually take? On average, it takes travelers 17 minutes and 53 seconds to get through Immigration and Customs. This number will vary based on the airport you're traveling through, the time of year you're traveling, and the time of day you're arriving at the airport.
When entering the United States from overseas, you must obtain your luggage and bring them through Customs and Border Protection (CBP). You will need to check them back into the airlines to make your next flight. Baggage not obtained after your international flight will not get to your final destination.
When you land in the United States, you'll first have to clear immigration. Then you'll have to wait at the baggage claim belt, and once you have all your belongings, you'll then clear customs.