The Chelsea Pensioners have exercised their freedom of the Royal Borough of Kensington and Chelsea.
It was part of commemorations called 'London Remembers' to mark 100 years since the end of the First World War.
Other units from across London joined the parade to commemorate the centenary and the involvement of the London formations in the conflict.
Following the parade, a commemorative drumhead service was held at the Royal Hospital Chelsea, attended by more than 900 guests.
Colonel Hugh Purcell, Chief Executive of the Reserve Forces and Cadet Association for Greater London, told Forces News:
"It is important to commemorate all those from London who fought in the Great War. Not just those who bore arms, but very importantly those who didn’t bear arms.
"We want to commemorate the valiant actions of those brave men and women in the First World War."
Colin Thackery, a Chelsea pensioner taking part in the parade said: "I think we should celebrate. An awful lot of people lost their lives, millions.
"I welcome it for my family’s sake, my grandchildren, my children, in the hope they never get involved in anything like that again."
At the Royal Hospital Chelsea's Burton Court there was a host of activities and art relating to the Great War, showcasing the world’s first 'Augmented Fine Art'.
Marc Marot, one of the artists behind it explains: "A typical painting is might be made up of 20,000 photographs with every touch of paint being applied to the canvas. Then I apply digital work to it as well.
“You point the app towards the painting and underneath you’ve got poetry and music. In this particular case, celebrating the life of Jack Harvey VC [First World War solider]."