VIDEO: Ships arrive in San Francisco Bay for Fleet Week's Parade of Ships

SAN FRANCISCO (KGO) -- Fleet Week is underway in San Francisco. Prior to Friday's Blue Angels airshow, the annual Parade of Ships was held.

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The fleet arrived in San Francisco Bay, parading under the Golden Gate Bridge.

It included five U.S. Navy ships, joined by a Coast Guard cutter, the Army Corps of Engineers and a representative from the Royal Australian Navy.

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The San Francisco Fire Department's fire boat was the lead escort.

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Take a look at the latest news and best videos from Fleet Week here.