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.

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.

The parade in Washington, D.C., celebrating the 250th anniversary of the U.S. Army ended with a fireworks show. Meanwhile, protesters clashed with police in Los Angeles. Follow along for live updates,