Dozens of white doves were released by survivors and residents of the north Kensington area.

A minute’s silence was also observed at 3pm and another one is scheduled for the second day of the carnival today.

More than 80 people are believed to have died in the blaze on June 14 in the council-owned tower block that is near the carnival route.

A “ring of care” was formed around the tower by police and organisers encouraged attendees to wear green to show “reverence and respect amid the revelry.”

Labour Kensington MP Emma Dent Coad addressed the carnival, which is now in its 51st year.

She said: “Today is a day to set aside our burden of sadness and enjoy some real joy with our families, our friends and our amazing community, which the world now knows about – though it’s always been here, we know that.

“Remember you are the Grenfell generation and you are special.”

London Mayor Sadiq Khan spoke for a few minutes with Hamid Ali Jafari, who had lived on the 11th floor of Grenfell Tower and is in a temporary flat awaiting permanent accommodation.

Mr Jafari, who lost his 82-year-old father Ali Yawar Jafari in the fire, said he was glad to be at carnival.

He said it was painful “remembering my dad, because he was there.”

Notices pinned on trees and hung on fences near the tower ask visitors and tourists not to take any photos of “the site of our great loss.”

Carnival trust chairman Pepe Francis said: “This will be the first opportunity for visitors to carnival to pay their respects for those affected by Grenfell.

“Because of Grenfell, I would like to see carnival this year one of the most successful ones ever, because I think it will pay tribute to what a festival like this can do to ease the minds of the people (who are) the victims.”

Staff from Central and North-west London NHS foundation trust (CNWL) were on hand to provide mental health support for those affected by the fire.