Jubilant scenes filled Watford town centre today, when more than 5,000 people cheered Hertfordshire soldiers on their return from Iraq.

Crowds of people filled the High Street, stood in shops and hung out of windows to wave flags and cheer members of the 2nd Battalion, The Royal Anglian Regiment.

The troop, which is known as The Poachers and recruits across the county, took part in the Freedom of the Borough march to mark their return from their second tour of Iraq in two years.

Union Flags and St George's Crosses billowed in the breeze and members of the crowd waved placards that read “Thank You To Our Boys” and “Well Done Poachers, Welcome Home”.

The scenes were in contrast to those during a parade in Luton on Wednesday, when an extreme Islamic group waved posters stating “Anglian soldiers go to hell”.

As 12.30pm approached in Watford town centre, the rumble of a drum and blasts of whistles in the distance signalled the start of the parade.

Led by the Minden Military Band, more than 200 soldiers marched from the Lower High Street to St Mary's Square, where they were inspected by Councillor Jan Brown, chairman of Watford Borough Council.

Those at the back of the crowds lifted cameras and mobile phones above their heads to capture photographs of the march, while others climbed to higher ground, in shops and on raised walkways, to find a better view.

The Poachers were handed the Freedom of Watford in May 1983, but this was the first time the Regiment had visited the town since 1997.

To rapturous applause, Councillor Brown said: “It's both an honour and a privilege to have you here and don't leave it so long next time. Watford is proud of our association with you and of the difficult and dangerous job you do on our behalf.”

The troop then marched up to The Parade, where they were dismissed and walked the short distance to The Colosseum for a civic reception.

Private Rikki Maling, 20, from Garston, said it was a “great pleasure” coming back to Watford.

He said: “It's personal and it's close to home. It's great to see the whole county is behind us.

“It's great because now we know we're getting a lot of support from people back in England. When we're away we don't know how much people are supporting us. To see the amount of people who are here cheering for the troops, it's great for us. It's amazing for morale."

Private Ed West, from Bushey, added: “This is the one we've been waiting for. It's personal to us.

“What people don't realise is we get support from the Iraqis. When we drive through the streets, we're getting beeps and horns. The majority of people there are happy for us to be there and like us to be there.”

Pvt Maling said he got “goosebumps” taking part in the parade.

He said: “It's a great pleasure coming back to your home town. It's morale building. The turnout has been awesome.

“To us, the amount of support in Luton was astonishing. Everyone was cheering from the off. The protests were drowned out by the sound of cheering. People have their opinions. We've got a lot of support from people back home.”

Among the crowds in St Mary's Square were Pvt Maling's family – mum Lisa, dad Adrian, sisters Nicole, 15, and Paige, 11, and brother Jack, 13.

Lisa, 40, said: “It makes me cry. I'm so proud of him, of all of them.

“It was unbearable when he was out there.”

Commenting on the protests in Luton, Adrian, 43, said: “He takes pride in what he does and we take pride in him doing it. You've got a right to an opinion but there's a time and a place to voice it and that wasn't the place. I'm sure he was professional and just got on with it.”

Pvt Maling, a former Francis Combe pupil, was also cheered by one of his teachers, Parveiz Aslam MBE.

Mr Aslam, director of student learning and a science teacher, said: “I didn't know Rikki would be here. It's a very proud moment for us. We didn't get put off by what happened in Luton.”

Rita Sillwood, from Garston Crescent, Watford, took up her place in St Mary's Square an hour before the parade began.

Accompanied by her husband Ronald and with a Union Flag in her hand, she said: “It's what our troops deserve. They do a great job for their country.

“A lot of young lads should go into the Army. Then we wouldn't have some of the problems we have.”

Michael Frauchiger, 59, from Pretoria Road, Watford, arrived even earlier, at 10.45am.

“We wanted to be here to see these brave lads and they are brave,” he said. “We have to show support. These guys are laying their lives on the line every single day. We're British. We want to support our lads, irrespective of what the idiotic Government does from time to time.”

His friend Betty Swann added: “I've come to give them a cheer because they do good work. They're fighting for their country but are not getting any support.”

Though her grandson Luke, a member of The Poachers, is still in Germany, Annia Grovier came to support his troop.

Mrs Gorier, 69, from Little Grove, Bushey, said: “He's only 21 and he's already done two tours in Iraq.

“I'm so proud. I wouldn't have missed it. I work in Sainsbury's and swapped my day off work so I could be here.”

She added that she was “disgusted” by the protests that took place in Luton.

“I don't care who they are. Why did they have to come out and do it to these lads? I cannot understand these people. Why don't they have a go at the Government?”

Douglas Wyatt, who served in the Navy with the Fleet Air Arm, was one of a number of Armed Forces veterans who attended the service.

Mr Wyatt, 79, a member of the Watford Fleet Air Arm Association, said: “We're here to support the Army and to congratulate them.”

Helen Hyde, headteacher of Watford Grammar School for Girls, and 60 Year 7 and Year 8 pupils also attended the ceremony.

Ms Hyde said: “We're here to support the troops. It's really important to see people who have been fighting for our country.”

In addition, Three Rivers Councillor Keith Peutherer represented the Abbots Langley British Legion.

“It's a fantastic turnout but it's no less than they deserve,” he said.

Watford Mayor Dorothy Thornhill thanked residents for offering the troop a "fine Watford welcome".

She told the crowd: "The Freedom of the Borough is the highest honour a town can bestow on a person or regiment. It's a way of uniting to say thank you for service to our town and to our people. "For the regiment, it's their right to march through the town centre with their heads held high with colours flying."

Following the civic reception, where soldiers were treated to sandwiches and a free bar, the Mayor said she was “immensely proud” of the town.

She said: “In my heart I knew that we wouldn't have any trouble from our Muslim community but I was concerned that we would have interlopers from Luton. And I'm delighted that didn't happen.

“The protesters have a right to protest but they are not right to protest. It would have been highly inappropriate and insensitive.”

Watford MP Claire Ward praised residents for “an absolutely fantastic turnout”.

She said: “It's a real privilege for the people of Watford to show their support for this regiment. They did it fantastically well today.

“There was no incident or trouble because I think what we've seen today expresses the views not just of this town but the majority of people right across the country.”

Watford Police Chief Inspector John Dempsey-Brench thanked the public for their “cooperation”.

He said: “Everybody showed their appreciation to the soldiers and entered into the spirit of the parade. It was a day Watford people can be proud of.

“It was also a positive example of partnership work between Hertfordshire Constabulary, Watford Borough Council, the Ministry of Defence and Hertfordshire Highways, making the event enjoyable for all.”