MILWAUKEE (CBS 58) -- Milwaukee, along with the rest of the country, is celebrating Juneteenth Day with parades and special events. 

The city's Juneteenth Jubilee Parade is one of the largest and longest running in the nation, with Friday's celebration marking the 55th annual event here in Milwaukee.

The parade stepped off at 9 a.m. at 14th and Atkinson, heading down Dr. Martin Luther King Jr. Drive and eventually ending near King Dr. and Locust Street. 

The streets came alive with marching bands, dancers, decorated floats and community groups as thousands lined the street to celebrate freedom and equality. 

This year's theme is "Honoring the Past While Empowering the Future," embodying the spirit of a day where history, culture and equality all take center stage. 

After the parade, the celebration continues with a street festival including food, educational exhibits and much more.