Despite the cold weather, there was warmth from the large and enthusiastic crowd as they turned up to see the Guards as they marched with their band, meeting the Mayor of Lincoln and members of the City of Lincoln council at the high street war memorial.
The march started around 10am at Waterside South, before making their way up the high street, under the Stownbow before ending their walk at the Cathedral.
The Guards last marched through Lincoln in 2008, when they were originally granted Freedom of the City.
Jonathan Cresswell was at the event for LSJ News and Siren FM.