The colourful procession, in honour of the founder of Sikhism, travelled to gurdwaras throughout the borough on Sunday.
There was music and dancing, while free food and drink was handed out throughout the parade route from West Bromwich to Smethwick via Oldbury.
WATCH video of the parade here:
Manjit Singh Samra, 41, was among those celebrating in Oldbury and explained: "It is a special occasion.
"This is a once in a lifetime opportunity to witness 550 years of Guru Nanak.
"It is a time when we can revisit Guru Nanak's history and message.
"His three messages are share with others, remember God and earn an honest living."
Guru Nanak, also referred to as Baba Nanak, was the first of the ten Sikh gurus and the anniversary of his birth is celebrated every year with the sacred Guru Nanak Dev Ji Gurpurab festival.
The procession was led by women sweeping the road and behind them were five sword-bearers and a float carrying the Sikh holy scripture the Guru Granth Sahib.
They were followed by specialists in the traditional Sikh martial art Gatka.
The procession began at the Guru Har Rai Sahib Ji Gurdwara on West Bromwich High Street before making its way to Guru Nanak Gurdwara in Edward Street.
From there, the procession travelled to Amrit Parchar Gurdwara in Birmingham Road, Oldbury, and nearby Guru Maneyo Granth Gurdwara in Popes Lane
The final stops were in Smethwick, at Baba Sang Ji Gurdwara in St Paul's Road and Guru Nanak Gurdwara in High Street.