President Barack Obama has exited his limousine for the traditional presidential walk in the inaugural parade from Capitol Hill to the White House.

Obama and first lady Michelle Obama waved to cheering, flag-waving crowds lining Pennsylvania Avenue to celebrate the start of Obama's second term

Obama, Vice President Joe Biden and their families were among more than 8,800 people, floats and marching bands participating in the late-starting parade that passed before viewing stands and bleachers after Obama's public swearing-in ceremony.

Thousands of people had waited in security lines that stretched a block to gain access to parade-viewing spots accessible to the general public without a special ticket.

Spectators wore Obama t-shirts, ski caps, hoodies and buttons, and one woman wrapped herself in an Obama beach towel for extra warmth.