The Band of the Welsh Guards marched through Pontypridd as part of their week-long tour of Wales.
It was the First Battalion's second event of the week with the first Freedom parade taking place in Bangor.
The regiment will complete its tour with a parade in Swansea on Friday.
Colonel Tom Bonas accepted a miner's lamp from Rhondda Cynon Taf council ahead of the march. He presented the council with a picture of the Welsh Guards in 1930s ceremonial uniform.