Law enforcement officials reported no arrests from the celebration in D.C. that drew several thousand parade watchers, with some demonstrators protesting against the show of military strength.

The procession featured more than 6,000 soldiers, 128 Army tanks, aircraft flyovers, military bands, even robot dogs. Troops wore uniforms representing the Army’s history, including outfits from the Revolutionary War, Civil War, World War II, the Vietnam War and the Global War on Terror.

As millions of Americans protested at “No Kings” rallies across the country, onlookers gathered in Washington on the president’s birthday for a muted celebration.