The last time Pink Dot SG was organised in-person was in 2019, when it focused on Section 377A, the law that criminalises sex between men.
In 2020 and 2021, the rally went online.
Capacity limits for all events were removed on April 26 as Singapore eased Covid-19 restrictions in a move to live with the coronavirus.
But as with all events over 500 persons, participants at the Pink Dot rally had to show proof of vaccination and scan a SafeEntry code after queuing to enter the rally area.
Like past rallies, they also had to show a photo identification to confirm that they are Singaporeans or permanent residents, and their bags were searched as part of security measures.
Some brought their pet dogs along and others laid out picnic mats and foldable chairs.
Pink Dot SG spokesman Clement Tan said the loss of the constitutional challenge against Section 377A this year was especially frustrating to the community.
But he said the community sees glimmers of hope.