Castro, 80, had emergency intestinal surgery at the end of July and has not been seen in public since. Cuba's acting leader, Raul Castro, Fidel's younger brother, led events.

He used the opportunity to attack the US but also renewed an offer to hold talks with Washington to end decades of bitter and tense ties.

Until the last minute, no one knew if Fidel Castro would make an appearance at the parade, held as part of belated birthday celebrations for him and to mark a key date in Cuban history. The events began with Raul Castro riding on a jeep through Havana's main square after a 21-gun salute before he launched into a speech praising the Cuban revolution.

He attacked Washington but also said: "We take this opportunity to once again state that we are willing to resolve at the negotiating table the longstanding dispute between the United States and Cubaf as long as the said resolution is based on the principle of equality, reciprocity, noninterference and mutual respect."