The celebration is called Juneteenth.
In 1865, slavery ended in the United States, and to commemorate African American freedom, events like the parade were held across the nation.
Juneteenth is a time for African Americans to reflect and rejoice, and to focus on education and achievement.
"Freedom, we can do whatever we'd like, we can go wherever we'd like; feels good to be free," said Cynthia Monroe who attended the Juneteenth Parade
This is the 20th anniversary of St. Joseph's Juneteenth celebration.
The parade was one of many events planned.
Although Juneteenth is celebrated for a day, week and sometimes even the entire month of June, the official observance of African American emancipation day is June 19.