This year's theme was "Pride, Power and People," reflecting Oakland's history of progressive activism.
This is the first year the Oakland LGBTQ Community Center is running the parade and festival.
ABC7 Eyewitness News spoke with several families who brought their kids to the event, saying they want them to grow up knowing the importance of showing up for each other.
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"It was really important for me. I am a teacher. I'm also a parent of two young kids. And, it's important for me as a queer woman to be here and just be loud and visible and joyful," said Carla Hinojosa. "I also love the sort of sweetness and ease of this, versus like San Francisco
Pride. It's nice and manageable. We can just drive from home, hang out here with our friends and enjoy the day."
The 90-minute parade ended with a festival including several musical artists performing on several stages.