The scandal-plagued mayor ignored calls for him to resign during the July 1 parade, responding to hecklers by wishing them a happy Canada Day.
Ford was also welcomed by fans eager to pose for pictures with him.
He came back Monday from a two-month stint at a rehab facility and apologized for his past behaviour, saying he was embarrassed by the things he has done while using drugs or alcohol.
In a nearly 20-minute statement, Ford pleaded for a second chance and promised an "unwavering" commitment to living clean.
He appeared in good spirits during the parade, and ended up lagging far behind the floats as he stopped to greet a steady stream of well-wishers.
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