The Gaia ESA space mission has started to provide its harvest with the first Gaia data release DR1, published in September 2016. Gaia DR1 provides positions for about 1 billion stars and proper motion for the Tycho-Gaia TGAS of 2 million stars with unprecedented accuracy. The second data release DR2 will be the major step in the Gaia mission, providing all astrometric parameters (including parallax and proper motion) for a billion stars, in an absolute reference frame - to become the optical ICRF. Gaia DR2 will also provide epoch astrometry for about 13000 asteroids from its direct observations, down to magnitude V≈20.7. We will discuss the improvement brought by Gaia over 5 years of nominal mission, starting with DR1, and focusing especially on the dynamics of asteroids and other Solar System Objects. This includes use of the catalogue for calibrating future and past photometric and astrometric observations (in particular new reduction of ancient photographic plates digitalised by the NAROO programme), new perspectives for orbit determination and stellar occultations, detection of small acceleration or perturbations for the asteroids. Also we illustrate the ground-based activity coordinated by the Gaia-FUN-SSO network for follow-up observations of newly discovered Near Earth Object.