Putin's own words are that he approved "special military operations" in Ukraine:
TASS 24 FEB, 07:55
Putin declares beginning of military operation in Ukraine
Russia has begun a military operation in Ukraine following a request from the authorities of the Donetsk and Lugansk republics for assistance in repelling Kiev’s military aggression, Russian President Vladimir Putin said in urgent address on Thursday. [...]
After that there followed reports of sounds of explosions in a number of Ukrainian cities, including Kiev and Kharkov. TASS has summarized the latest news regarding the situation.
Military operation
After a message from the Donbass republics Putin made a decision to conduct a "special military operation."
Also, the latest headline on TASS right now is that:
Top brass reveals 74 Ukrainian military facilities were crippled by Russia’s strikes
More than 70 ground infrastructure facilities belonging to Ukraine were incapacitated by strikes carried out by Russia’s Armed Forces, Defense Ministry Spokesman Igor Konashenkov told reporters on Thursday.
If you're looking for confirmation from the Russian side of a ground invasion, that (confirmation) has yet to materialize.
On the other hand, Western media already reports (at least) a 3-pronged attack, around Kharkiv in the North, and Kerhson in the South
https://www.bbc.com/news/world-europe-60506682
If you'd rather trust Chinese media, they also report ground fighting around Kharkiv https://www.youtube.com/watch?v=kih7g9XR-8c
Also, this is not on TASS (in English) yet, but AP reports that Russia has confirmed invading/taking Kherson, at least:
The Russian Defense Ministry has confirmed that its ground forces have moved into Ukraine from Crimea, the first confirmation from Moscow that its ground forces have moved in.
Russia previously said only that it unleashed air and missile strikes on Ukrainian air bases, air defense batteries and other military facilities. The ministry said it has destroyed 83 Ukrainian military facilities.
For the first time since the start of the action, Defense Ministry spokesman Igor Konashenkov confirmed the Russian ground troops had rolled into Ukraine, saying they advanced toward the city of Kherson, northwest of Crimea.
Kherson sits on reservoir providing the bulk of fresh water for Crimea until Ukraine cut it off with a dam in 2017 in response to Moscow’s 2014 annexation of Ukraine’s Crimean Peninsula.
Konashenkov said that the Russian troops’ move allowed to resume water supply to Crimea.