Using 5326 days of atmospheric neutrino data, a search for atmospheric tau neutrino appearance has been performed in the Super-Kamiokande experiment. Super-Kamiokande measures the tau normalization to be 1.47±0.32 under the assumption of normal neutrino hierarchy, relative to the expectation of unity with neutrino oscillation. The result excludes the hypothesis of no-tau appearance with a significance level of 4.6σ. The inclusive charged-current tau neutrino cross section averaged by the tau neutrino flux at Super-Kamiokande is measured to be (0.94±0.20)×10−38  cm2. The measurement is consistent with the Standard Model prediction, agreeing to within 1.5σ.