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It's quite the sight, especially if you go to the park where they're setting up beforehand to watch all the samurai etc. eat their bento, have a quick cigarette before the parade itself starts and they have to be in character, and have their mum fix their helmet.
城使 is a kind of envoy (of a domain).徳川城使上洛列
Tokugawa (城使 = ? not sure of translation - officials?) proceeding to the capital (Kyoto) procession.
時代祭 - Wikipedia徳川城使上洛列は、大礼や年始などの際に親藩または譜代の諸侯が城使として上洛したものを再現したものである。行列の先頭には、槍持、傘持、挟箱などの奴振りがみられ、いわゆる大名行列の体をとっている。