Riot squad police officers kept rival factions apart during the Henry Joy McCracken parade in north Belfast.
A few missiles were hurled and taunts exchanged between protesters and those taking part.
But there was no repeat of the serious violence which erupted during the same demonstration two years ago.
Around 300 marchers took part in the procession to remember the founder of the United Irishmen, who was born on August 31, 1767.
There was a substantial police presence along the route.
The Parades Commission had imposed a number of restrictions on the controversial republican parade.
Bands set off from Ardoyne Avenue shortly after 2.30pm, passing Clifton Street Orange Hall before making their way to Henry Place.
Dozens of protesters gathered outside the Orange Hall, some waving Union flags. As bands passed by, both factions traded sectarian insults and a number of missiles were thrown.
PSNI Chief Superintendent Nigel Grimshaw said the parade "passed off very peacefully".
In 2012, more than 60 police officers were injured during three nights of rioting on streets close to Carlisle Circus in north Belfast after trouble flared following the republican parade.
The Joy family founded Belfast's News Letter newspaper.
His remains are believed to have been reinterred by Francis Joseph Biggar in 1909 at Clifton Street Cemetery, Belfast.
The Society of the United Irishmen was political organisation in eighteenth century Ireland that evolved into a revolutionary republican organisation, inspired by the American Revolution and allied with Revolutionary France.
It launched the Irish Rebellion of 1798 with the objective of ending British monarchical rule over Ireland.
Video warning: Explicit language and songs of a sectarian nature audible
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