HMS Ocean was successfully negotiated through the Thames Barrier, before beginning a 180-degree turn at West India Docks. She arrived at Greenwich at around midday.
Captain Andrew Betton described the task of guiding her through gaps of just 60 metres as "challenging".
Smaller crafts and patrol boats accompanied the ship as part of the maritime security plan.
The Royal Navy's largest warship, HMS Ocean, sailed up the Thames today as the military stepped up security preparations for the Olympics.
Details of a vast security operation to defend Britain's air, land and sea during the London Olympic Games became a little clearer today.
A video posted online apparently shows military equipment, being used as part of Olympics security, left unguarded outside London flats.