The Polar Quest Parade marked one of the most daring expeditions ever undertaken by mankind - the 'Endurance' Expedition to the South Pole.
Performed by Ireland-based Spraoi, who stage street theatre and parades, it left West Pier at 5pm and crowds along the seafront saw Spraoi recreate the epic Endurance expedition to the South Pole, led by Ernest Shackleton.
The spectacular parade featured giant ships and sea creatures.
More than 100 events, concerts, performances and attractions – the majority of them free – are being staged in and around Scarborough across the three days.
Later tonight, rock band Cast will headline the music offering with a concert at the Spa Grand Hall at 8pm supported by Two Skies.