Much like he did in 2009, President Obama and First Lady Michelle Obama briefly emerged from “The Beast”—their presidential limo—to walk along the parade route on Pennsylvania Avenue. And despite thinner crowds than during his first inaugural, parade-goers who had lined the route four hours cheered as the delayed procession began and the Obamas passed.

With the Obamas and the Bidens now safely ensconced in the viewing stand in front of the White House, the rest of the parade will take place, which will include 58 floats and musical groups from across the country.