Floyd, who died after a Minneapolis police officer pressed his knee into Floyd’s neck for several minutes, grew up in Houston.
A crowd grew exponentially at Discovery Green ahead of the rally organized by Houston entertainers Trae Tha Truth and Bun B.
Demonstrators marched to City Hall, for a rally that lasted a little more than an hour as various Houston officials, activists and members of Floyd’s family spoke.
WATCH: Mayor Sylvester Turner addresses the crowd in front of city hall
Mayor Sylvester Turner told the crowd that the rally and march were about “lifting up the family of George Floyd.”
“Today we want to love on them. We want them to know that George did not die in vain,” he said.
WATCH: See some powerful moments from today’s march for George Floyd
Turner said about 16 members of Floyd’s family participated in the march and rally. Several members of Floyd’s family spoke at the rally, telling protesters of their appreciation for their support and asking them to not be violent in any protests in which they participated.
Lakewood Church Pastor Joel Osteen led a prayer with family members.
Before the start of the march, Bun B told the crowd the march and rally would be peaceful and he asked the crowd to look out for anybody who could cause trouble.
Bun B then led the crowd of at least several thousand on a chant as he said “What’s his name?” and the crowd replied, “George Floyd.”
“That’s right and don’t you ever forget it,” Bun B said.
The crowd later got down on one knee and was silent for 30 seconds.
“We’re our here supporting George. We want some peace. We want some change in America. We want some change in the world,” said Anthony Blackmon. He was on horseback along with about 60 other people from a Houston riding club called “Deep in the street and always on the trail.”
WATCH: Riders on horseback join George Floyd march in downtown Houston
As the crowd marched about a mile from Discovery Green park in downtown Houston to City Hall, they chanted, “Hands up, don’t shoot” and “no justice, no peace.”
WATCH: ‘White Coats for Black Lives’ demonstration
WATCH: People on horses join march for George Floyd in downtown
Some of the officials at the head of the march included Mayor Sylvester Turner and Sheila Jackson Lee and Sylvia Garcia, who represent the Houston area in Congress.
WATCH: SkyEye13 video shows thousands gathered in downtown to honor George Floyd
Ahead of the event, officials urged those marching to have their voices heard, while demonstrating peacefully. Any violence has been discouraged.
Police officers lined the route of the march and large city dump trucks blocked some downtown streets.
After the march, many protestors gathered in the street while some were seen on top of a METRO bus that transported police officers to the march.
WATCH: Demonstrators climb on top of METRO buses outside George R. Brown Convention Center
WATCH: Tensions high in downtown during march for George Floyd
Shortly before the start of the march, the City of Houston sent an alert asking for the public to report any suspicious behavior. Houston Public Works crews have removed several piles of bricks and rocks from locations around the city, officials said.
Organizers intended all along for this march to be a peaceful demonstration.
“We came to make sure that we represent for the family, represent for (Floyd). So if they come to tear it down, it defeats the purpose of what they’re trying to do,” Trae Tha Truth told ABC13’s Chauncy Glover in the middle of the march Tuesday.
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The Associated Press contributed to this report.
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