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Thousands of pro-Brexit protesters have descended on Whitehall as MPs rejected Theresa May's withdrawal agreement for a third time.

The activists, brandishing Union Jack flags, placards and banners, filled the roads outside Parliament on Friday: the UK’s original scheduled departure date from the EU.

A "Make Brexit Happen" rally featuring speeches from Ukip leader Gerard Batten and English Defence League founder Tommy Robinson was planned for 4pm.

Meanwhile, former Ukip leader Nigel Farage, who resigned from the party over its appointment of Mr Robinson, greeted the “March to Leave” as it approached Parliament Square shortly before 3pm.

The walking group set out from Sunderland two weeks ago. Today, hundreds filed from Fulham towards Parliament Square.

Brexit Party MEP for Scotland David Coburn said: "Excellent, isn't it? It's like Cromwell's Army."

Wearing a kilt and wielding a Saltire flag, he added: "It's ridiculous, May has no intention of giving us Brexit.

"It's now an argument between the establishment and the people."

In pictures | Demonstrations outside Parliament 41 show all In pictures | Demonstrations outside Parliament 1/41 A Brexit supporter wears the Union Jack colors on his face AP 2/41 Brexit supporter protesters outside Westminster PA 3/41 British far-right activist Tommy Robinson addresses protesters gathered outside the Houses of Parliament AFP/Getty Images 4/41 Pro-Brexit demonstrators carry placards and Union flags AFP/Getty Images 5/41 Brexit protesters in black uniform rally outside of the Parliament in London EPA 6/41 Brexit protesters in black uniforms rally outside of the Parliament EPA 7/41 Brexit protesters rally outside of the Parliament EPA 8/41 Pro-Brexit protesters take part in the March to Leave demonstration Reuters 9/41 Brexit Party leader Nigel Farage Reuters 10/41 Pro-Brexit demonstrators wave Union and UKIP flags AFP/Getty Images 11/41 Pro-Brexit protesters outside Westminster, PA 12/41 Tommy Robinson supporters are seen arriving in Westminster Getty Images 13/41 Pro-Brexit demonstrators march past the Houses of Parliament AFP/Getty Images 14/41 Brexit protesters outside Westminster, PA 15/41 Anti-Brexit protesters outside Westminster PA 16/41 Pro-Brexit protesters gather outside the Houses of Parliament AFP/Getty Images 17/41 Brexit protesters rally outside of the Parliament EPA 18/41 Demonstrators clash in Parliament Square Jeremy Selwyn 19/41 A jogger flicks a finger at a pro-Brexit demonstrator outside the Houses of Parliament in London AFP/Getty Images 20/41 Conservative Party MP Jacob Rees-Mogg reacts next to a demonstrator outside the Parliament in London Reuters 21/41 Armed police in Westminster today ahead of Brexit protests Alex Lentati 22/41 Dogs stand alongside a pro-Brexit activist demonstrating near the Houses of Parliament in Westminster, AFP/Getty Images 23/41 Members of the UK Independence Party (UKIP) hold banners and flags as they demonstrate near the Houses of Parliament AFP/Getty Images 24/41 A Leave supporter rests his sign on his head while protesting outside the Houses of Parliament Getty Images 25/41 A Pro-Brexit protester holds an England flag beneath the Churchill statue in Parliament Square Getty Images 26/41 A Pro-Brexit protester waves the British flag outside the Houses of Parliament Getty Images 27/41 Pro-Brexit demonstrators hold placards and the Union flag in Parliament Square AFP/Getty Images 28/41 Mayor of London, Sadiq Khan (C) poses for 'selfie' photographs with EU nationals during a photocall at the University of East London AFP/Getty Images 29/41 Brexit supporters demonstrate outside Parliament Reuters 30/41 A protestor waves Union flags outside Westminster, London, as MPs are expected to consider and vote on a Government motion on the EU withdrawal on Friday evening PA 31/41 The March To Leave Rally arrives in London today, the original date for the UK to leave the European Union. Getty Images 32/41 Getty Images 33/41 A pro-Brexit demonstrator wears a suit featuring the Union flag AFP/Getty Images 34/41 A lone Brexiteer talks on his phone as he makes his way down Whitehall AFP/Getty Images 35/41 Pro-Brexit protesters take part in the March to Leave demonstration, as they walk along the River Thames Reuters 36/41 A pro-Brexit protester wears a Union flag outside Westminster PA 37/41 A Brexit protester outside Westminster PA 38/41 'The Unbrexit' bus outside Westminster PA 39/41 A protester holding a sign willing Nigel Farage to be Prime Minister PA 40/41 A protester wearing a hat adorned in Union flags PA 41/41 Brexit supporters gather in Bishops Park in Fulham to take part in the final leg of the March To Leave Getty Images 1/41 A Brexit supporter wears the Union Jack colors on his face AP 2/41 Brexit supporter protesters outside Westminster PA 3/41 British far-right activist Tommy Robinson addresses protesters gathered outside the Houses of Parliament AFP/Getty Images 4/41 Pro-Brexit demonstrators carry placards and Union flags AFP/Getty Images 5/41 Brexit protesters in black uniform rally outside of the Parliament in London EPA 6/41 Brexit protesters in black uniforms rally outside of the Parliament EPA 7/41 Brexit protesters rally outside of the Parliament EPA 8/41 Pro-Brexit protesters take part in the March to Leave demonstration Reuters 9/41 Brexit Party leader Nigel Farage Reuters 10/41 Pro-Brexit demonstrators wave Union and UKIP flags AFP/Getty Images 11/41 Pro-Brexit protesters outside Westminster, PA 12/41 Tommy Robinson supporters are seen arriving in Westminster Getty Images 13/41 Pro-Brexit demonstrators march past the Houses of Parliament AFP/Getty Images 14/41 Brexit protesters outside Westminster, PA 15/41 Anti-Brexit protesters outside Westminster PA 16/41 Pro-Brexit protesters gather outside the Houses of Parliament AFP/Getty Images 17/41 Brexit protesters rally outside of the Parliament EPA 18/41 Demonstrators clash in Parliament Square Jeremy Selwyn 19/41 A jogger flicks a finger at a pro-Brexit demonstrator outside the Houses of Parliament in London AFP/Getty Images 20/41 Conservative Party MP Jacob Rees-Mogg reacts next to a demonstrator outside the Parliament in London Reuters 21/41 Armed police in Westminster today ahead of Brexit protests Alex Lentati 22/41 Dogs stand alongside a pro-Brexit activist demonstrating near the Houses of Parliament in Westminster, AFP/Getty Images 23/41 Members of the UK Independence Party (UKIP) hold banners and flags as they demonstrate near the Houses of Parliament AFP/Getty Images 24/41 A Leave supporter rests his sign on his head while protesting outside the Houses of Parliament Getty Images 25/41 A Pro-Brexit protester holds an England flag beneath the Churchill statue in Parliament Square Getty Images 26/41 A Pro-Brexit protester waves the British flag outside the Houses of Parliament Getty Images 27/41 Pro-Brexit demonstrators hold placards and the Union flag in Parliament Square AFP/Getty Images 28/41 Mayor of London, Sadiq Khan (C) poses for 'selfie' photographs with EU nationals during a photocall at the University of East London AFP/Getty Images 29/41 Brexit supporters demonstrate outside Parliament Reuters 30/41 A protestor waves Union flags outside Westminster, London, as MPs are expected to consider and vote on a Government motion on the EU withdrawal on Friday evening PA 31/41 The March To Leave Rally arrives in London today, the original date for the UK to leave the European Union. Getty Images 32/41 Getty Images 33/41 A pro-Brexit demonstrator wears a suit featuring the Union flag AFP/Getty Images 34/41 A lone Brexiteer talks on his phone as he makes his way down Whitehall AFP/Getty Images 35/41 Pro-Brexit protesters take part in the March to Leave demonstration, as they walk along the River Thames Reuters 36/41 A pro-Brexit protester wears a Union flag outside Westminster PA 37/41 A Brexit protester outside Westminster PA 38/41 'The Unbrexit' bus outside Westminster PA 39/41 A protester holding a sign willing Nigel Farage to be Prime Minister PA 40/41 A protester wearing a hat adorned in Union flags PA 41/41 Brexit supporters gather in Bishops Park in Fulham to take part in the final leg of the March To Leave Getty Images

Some people wore hi-vis vests, with Conservative Party member Colin Grostate saying they were "a symbol from France".

The former black cab driver, 67, said: "We support the populism.

"Our politicians are not listening. Too many people are trying to stop what people voted for."

Mr Farage joined around Tate Britain, less than a mile from Parliament Square.

Asked when he wanted Brexit he said: "Tonight at 11 o'clock."

He said: "From Sunderland it's a bloody long way" and congratulated the marchers who had walked the whole distance.

"I would've liked to have done more, I've just been too busy,” he added.

The Met Police said earlier it was prepared for the protests, as people began gathering in Parliament Square from midday.

Campaigners spilled onto the road, bringing traffic in the area to halt, as they chanted: "We shall not be moved" and "Leave means leave".

Others were heard shouting: "Brexit now" and "bye bye, EU."

Police tried in vain to move the protesters as traffic was blocked, though the atmosphere was otherwise peaceful.

People were pictured with placards reading "Treason May" and "keep calm and Brexit on."

Ukip's Tommy Robinson "sponsored" Make Brexit Happen rally was among a number of planned demonstrations on Friday.

Mr Robinson, real name Stephen Yaxley-Lennon, and Ukip's leader Gerard Batten were expected to give speeches from a stage with a “sound system loud enough that Theresa May will be able to hear every single word in 10 Downing Street”.

Scotland Yard was compelled to dismiss as "baseless and false" suggestions from Mr Batten that water cannons could be deployed at protests to "provoke Brexiteers".

The Democratic Football Lads Alliance was also among those holding a demo in Parliament Square from 4pm, as were the “yellow vests”, with counter-protesters also planned.

And the March to Leave was expected to culminate in a "Brexit Betrayal" rally, with Nigel Farage, Wetherspoon founder Tim Martin and broadcaster Julia Hartley-Brewer among the likely speakers.

It came on the day when the Prime Minister put her withdrawal agreement before Parliament once more.

A Met Police spokesman said: "We will always provide a proportionate policing plan to balance the right to peaceful protest, while ensuring that disruption to communities is kept to a minimum.

"To date, protests have been largely peaceful and we have no intelligence at this time to suggest that will change.

"We would like to reassure the public that officers will be ready to respond should any incidents or other spontaneous protests arise."