King Felipe VI, wearing military uniform, and Queen Letizia were driven Friday in a Rolls Royce down one of the capital's main avenues, flanked by cavalry. People waving yellow-and-red Spanish flags lined the street.
Rain though halted a Spanish Air Force flyover.
Catalan leaders, who are demanding independence for the wealthy northeastern region stayed away from ceremonies in Barcelona - as usual.
They have also snubbed King Felipe, who has spoken out against Catalonian independence. Catalonia's mostly pro-independence parliament passed a motion Thursday calling for the abolition of the monarchy.
Several thousand people joined a unionist parade in downtown Barcelona.
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