Gravitation and regular Universe without dark energy and dark matter

It is shown that isotropic cosmology in the Riemann-Cartan spacetime allows to solve the problem of cosmological singularity as well as the problems of invisible matter components - dark energy and dark matter. All cosmological models filled with usual gravitating matter satisfying energy dominance conditions are regular with respect to energy density, spacetime metrics and the Hubble parameter. At asymptotics cosmological solutions of spatially flat models describe accelerating Universe without dark energy and dark matter, and quantitatively their behaviour is identical to that of standard cosmological \Lambda CDM-model.