More than 8,500 performers representing 20 different countries marched through the route from Green Park to Parliament Square, which is being televised in the US and other countries.
After extra armed police at the New Year's Eve fireworks display, a spokesperson said there was "appropriate security" for the parade.
More than 50,000 spectators turned out to watch the free event, which has a magic theme this year.
Executive director Bob Bone started the event with his wife Geri in 1987 after they had wanted to take their children out on New Year's Day and found most museums, theatres, cinemas, restaurants and shops were closed.
"It's the most death-defying stunt I've ever done," said Darcy.
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