Around 200 Orangemen from across northern England and Scotland, including a band from Larkhall near Glasgow, marched from next to Carlisle Castle.
They finished beside the war memorial in Greenmarket where a wreath was laid.
The parade halted traffic and brought a mixed reaction from onlookers: one man applauded while another muttered an expletive under his breath.
Most people just stopped and stared at the spectacle.
The Orange Order is a Protestant fraternal organisation, usually associated with Northern Ireland, although there are lodges all over the UK and as far away as Australia and Canada.
Saturday’s march was organised by the Abraham Acton Loyal Orange Lodge No. 572 for Cumbria, named after a World War One Victoria Cross winner from Whitehaven.
It was launched in 2013 and has since held marches in Whitehaven and Workington, but this was its first in Carlisle.
Secretary Dave Gibbs said: “The English Orange Order held a march in Carlisle in 2009 because of the city’s associations with the Orange Order but this is the first by an independent lodge for many years.
“We have members here from west Cumbria, Burnley, Blackburn and Blackpool, and from Scotland. It’s a good turnout.”
The parade was followed by a function at Carlisle Ex-Servicemen’s Club.
Among those taking part was Dave Thompson, an Orange Order member from Penrith.
He was delighted to be marching in Carlisle, and said that the perception the Order was a sectarian group was unfair.
Mr Thompson added: “We are just a religious organisation who believe in queen and country. That’s basically it. We don’t hate anyone.
“Carlisle is a good place because it’s on the border with Scotland.
“Coming here shows that everybody is united and we are all brothers together.”
Comments: Our rules
We want our comments to be a lively and valuable part of our community - a place where readers can debate and engage with the most important local issues. The ability to comment on our stories is a privilege, not a right, however, and that privilege may be withdrawn if it is abused or misused.
Please report any comments that break our rules.
Read the rules here