Police estimated that 2,000 people participated in the march, which lasted about three hours.
Additional arrests were expected.
After nearly 300 arrests and outbreaks of violence during an anti-war March on Monday, police were on alert Tuesday.
Hundreds of officers - including many in riot gear and on horseback or bicycles - shadowed the rally and march by the group, Poor People's Economic Human Rights Campaign.
Police handcuffed a woman in a black bicycle helmet and, in a separate incident, handcuffed a man and a woman after a brief skirmish. About 50 people watching the arrests of the couple chanted, "Let them go, let them go!"
As the march ended, police trailing the rear grabbed one marcher and began pepper spraying people in the area. It wasn't immediately clear what led police to grab the man.
The RNC Welcoming Committee, a self-described anarchist group that has worked for months planning convention disruptions, claimed success in e-mails to its members and media. "The spectacle has been crashed!" read one.
The group, not officially connected to organizers of either Monday or Tuesday's march, hinted at more trouble.
"We are excited about what the next few days may bring now that the illusion of business as usual has been shattered," said Rose DaBarr, a spokeswoman for the group, said at a news conference Tuesday.
Cheri Honkala, spokeswoman for the sponsor of Tuesday's march, said it would deviate from the permitted path to go by the county jail, where some of those arrested Monday remained. Honkala said marchers wanted the event to be nonviolent.
Police said they were ready for problems.
"We are anticipating that there may well be less criminal activity because there are less of them out there," St. Paul Police Chief John Harrington said. "But we do not expect there will be no criminal activity."
Authorities said 130 of the 286 people arrested Monday faced possible felony charges. At least four journalists were among those arrested: Associated Press photographer Matt Rourke, Democracy Now!
host Amy Goodman and two of her producers. The four were later released, but only Goodman was cited for a misdemeanor and issued a court date, at which time she could be charged with a crime.
Rourke was covering Monday's protest when he was swept up by police moving in on a group of protesters. Goodman was arrested as she asked police in riot gear about the status of producers Sharif Abdel Kouddous and Nicole Salazar.
All three recounted their experience on Goodman's show Tuesday.
A video of her arrest, aired on the program and posted on YouTube, shows her begging police not to arrest her before she was taken away in handcuffs.
Court proceedings were moving slowly. Ramsey County prosecutors filed their first formal felony charge Tuesday against a 22-year-old Mt. Eden, Calif., man for allegedly pushing a trash bin into the street and at a police squad during Monday's protests.
Vernon Alexander Rodrigues was charged with obstructing the legal process by blocking officers who were about to arrest others.
The violent protests in St. Paul contrasted with a relatively peaceful Democratic convention in Denver, where only 152 people were arrested during the four-day event and the preceding weekend.
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