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 largest military parade in Washington in decades unfolded Saturday alongside hundreds of protests against it, and its chief organizer