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The colorful parade celebrates the Feast of the Epiphany, which is held 12 days after Christmas. It marks the end of the biblical journey of the Three Wise Men, who followed a star to Bethlehem to see the baby Jesus and bring him gifts.

More than 2,000 kids from 40 schools marched along with parents, teachers, politicians and community leaders.

"My favorite part is when I got to see the three kings!" said one parade goer.

"What we celebrate is really Latinos from all over coming to the city, bringing their talents, their creativity their art and their passion. Making New York the vibrant cultural place that it is," said El Museo Del Barrio Director Julian Zugazagoitia.

This year, the honorary Three Wise Men are composer and lyricist Lin-Manuel Miranda, of the musical “In the Heights,” novelist Oscar Hijuelos, and artist Raphael Montanez Ortiz.

"For all you kids out there who celebrate Three Kings Day, it's a great way to bat clean up and ask for anything Santa may've missed," Miranda said.

Despite the freezing temperatures, thousands came out to celebrate.

“We just love this feeling and everyone's together, all the little kids. We couldn't see how they're standing and freezing, but if they could do it, we can do it,” said one participant.

The annual event is sponsored by El Museo Del Barrio.