As millions of Americans protested at “No Kings” rallies across the country, onlookers gathered in Washington on the president’s birthday for a muted celebration.

The procession featured more than 6,000 soldiers, 128 Army tanks, aircraft flyovers, military bands, even robot dogs. Troops wore uniforms representing the Army’s history, including outfits from the Revolutionary War, Civil War, World War II, the Vietnam War and the Global War on Terror.

The parade, which was put on to celebrate the Army’s 250th anniversary and Trump’s 79th birthday, was reported to cost up to $45 million and drew thinner crowds than anticipated, as simultaneous “No Kings” protests took place in all 50 states.