We prove a Kleene theorem for higher-dimensional automata. It states that the languages they recognise are precisely the rational subsumption-closed sets of labelled interval orders. Higher-dimensional automata are general models of concurrency that subsume, for instance, Petri nets, event structures and asynchronous transition systems. We formalise them as presheaves over labelled precube categories. Interval orders are used as non-interleaving semantics of concurrent or distributed systems where events have duration. For the proof, we introduce higher-dimensional automata with interfaces and several tools inspired by model categories, such as cylinders, necessary for handling cycles, and (co)fibrations.