The parade of lights took place on along 125th Street stretching from Fifth Avenue to Broadway on the East River.
The theme for this year's event was "Dance! Harlem's Heartbeat," paying tribute to Harlem's storied history of dance and highlighting its global reach and contributions to arts, culture and history.
The celebration offered a little something for everybody, from karaoke, trivia and giveaways, in addition to the parade.
Taking part in this year's event as the grand marshal was American Ballet Theatre's Principal Dancer Misty Copeland.
The family-friendly event was free and open to the public.
WABC-TV is a proud sponsor of Harlem Holiday Lights.
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