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Federal senator Lidia Thorpe was moved on from the Sydney Mardi Gras parade by police, after video showed her temporarily halting the march.

In a video of the incident shared to social media, Thorpe can be seen lying on her back in front of a float that was part of the parade.

Two officers approached Thorpe before the senator got to her feet.

READ MORE: PM makes history by marching in Mardi Gras parade

Thorpe could then be seen talking with police and Mardi Gras crew.

NSW Police said in a statement a woman laid in front of a float at about 9pm "momentarily preventing the progress of the parade".

"She was later removed from the parade at the request of organisers for breaching the terms of her participation," a spokesperson said.

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Thorpe was a part of the "No Pride in Genocide" float, which was organised by Pride in Protest.

"Black and brown trans women started the first pride march as a protest against police violence," Thorpe said.

"Today, we still face violence from police."

Earlier this month Thorpe resigned from the Greens to move to the crossbenchto pursue a "Black sovereignty movement".

The DjabWurrung Gunnai Gunditjmara woman, who has been a member of federal parliament since 2020, announced her decision to quit the party on February 6.

"This country has a strong grassroots Black sovereign movement full of staunch and committed warriors and I want to represent that movement fully in this parliament," she said earlier this month.

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https://twitter.com/SenatorThorpe/status/1629609463396302848

"It has become clear to me I can't do that from within the Greens.

A Mardi Gras spokesperson confirmed the procession was interrupted as a protest was staged.

"While we respect the individual's right to protest, interrupting the parade in this way has significant implications for the safety of our participants and audience," the spokesperson said.

Meanwhile Prime Minister Anthony Albanese became the first sitting Prime Minister to march in the parade.

"It's unfortunate that I am the first but this is a celebration of modern Australia, we're a diverse and inclusive Australia and that's a good thing," Albanese said on the ABC telecast.

"We need to be a country that respects everyone for who they are."

This year's parade comes as Sydney hosts WorldPride 2023, the first time the event has been held in the southern hemisphere.

NSW Police Assistant Commissioner Anthony Cooke said the crowd was well-behaved, and police were pleased with the behaviour of majority of revellers.

However, one police officer suffered a suspected broken nose during an arrest in Oxford Street while a second officer suffered grazes and a black eye after being assaulted while travelling to Moore Park.

Police arrested four people for offences including the assault police.

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