Opening view controller from app delegate using swift

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You have to set ViewController StoryBoardId property as below image.

enter image description here

open viewController using coding as below in swift

func application(application: UIApplication, didFinishLaunchingWithOptions launchOptions: [NSObject: AnyObject]?) -> Bool {

         let mainStoryboardIpad : UIStoryboard = UIStoryboard(name: "Main", bundle: nil)
         let initialViewControlleripad : UIViewController = mainStoryboardIpad.instantiateViewControllerWithIdentifier("Circles") as UIViewController
         self.window = UIWindow(frame: UIScreen.main.bounds)
         self.window?.rootViewController = initialViewControlleripad
         self.window?.makeKeyAndVisible()

         return true
    }

For iOS 13+ (based on an article by dev2qa)
Open SceneDelegate.swift and add following

func scene(_ scene: UIScene, willConnectTo session: UISceneSession, options connectionOptions: UIScene.ConnectionOptions) {

    // If this scene's self.window is nil then set a new UIWindow object to it.
    self.window = self.window ?? UIWindow()

    // Set this scene's window's background color.
    self.window!.backgroundColor = UIColor.red

    // Create a ViewController object and set it as the scene's window's root view controller.
    self.window!.rootViewController = ViewController()

    // Make this scene's window be visible.
    self.window!.makeKeyAndVisible()

    guard scene is UIWindowScene else { return }
}

There is an open-source navigation utility which attempts to make this easier. Example

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