Love Soup Rotorua co-founder Elma Peiffer said there were probably about 70 people who took part.
He said it went really well, was well managed and everyone was on their best behaviour.
It was an awareness march, not a protest one, he said.
Mr Peiffer said everyone understood what was required and they had a lot of support from people driving by who were honking their horns.
The march started at the Soundshell then made its way through the city streets of Lake Rd, Fenton, Pukaki and Tutanekai Sts to the City Focus, where there was a rest stop and an opportunity for anyone interested to have a chat with people.
Love Soup Rotorua Unity March for Homelessness
Posted by Rotorua Daily Post on Friday, 17 March 2017
The march then made its way down Hinemoa, Fenton and Whakaue Sts and then back to the Soundshell.
Back at the Soundshell a barbecue was provided, with a free sausage sizzle and real fruit icecream.
Mrs Peiffer said Carol from Stone Soup provided her caravan to do the barbecue and ice- cream.
She said there were some of the city's homeless people taking part and others in the community were able to talk to them while they walked.
Mrs Peiffer said the highlight for her was the number of people tooting in support as they drove around the roundabout when the march had a stop by the Sir Howard Morrison Performing Arts Centre.
"It did what we wanted and connected all the people from different parts of our community."
She said the homeless people who took part were proud to be a part of the walk and to support the kaupapa (purpose) and work Love Soup did.
It would have been nice if there had been some MPs or people in positions of power there, she said.
Executive of Love Soup Rotorua Steve Chapman did the march and said it went well and there was a bit of diversity of people doing the march.
Mr Chapman thought the march drew people's awareness to how there was a homelessness problem as it was the sort of thing which people might not notice.
Mrs Peiffer received calls regarding this issue all the time, he said.
He said it would be great to have the council more involved.
The facts
What: Unity march for homeless
When: Saturday
How many: About 70
Organised by: Love Soup