Astros outfielder George Springer and Congressman John Lewis served as Grand Marshals of the parade.
WATCH: Full video of the parade
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This year's parade was in memory of Ovide Duncantell, a Houston civil rights activist who fought for equal rights for African Americans for many years.
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Duncantell was the founder of the country's first Martin Luther King, Jr. parade. Duncantell died on Oct. 25, 2018.
SEE MORE: Houstonian who founded the first ever MLK Day parade is laid to rest
RELATED: Mayor Turner: City will support Black Heritage Society as official MLK Jr. Day parade in Houston