One spectator couldn't resist joining in with the march. Little Wesley tried to keep up with his father as the soldiers marched past.
He was later rewarded with a signed rugby ball from Wales international Ryan Jones, who stopped by to support the returning men.
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The Welsh Assembly election is less than a week away and the treatment and care of cancer is one of the more contested issues.
Tributes have been paid to an ambulance driver killed in a crash with another ambulance in North Wales.
Tonight is expected to be clear and dry - though some parts of Wales will experience frost.