A protest in response to the death of George Floyd is underway in Poughkeepsie.

The Stop the Violence Protest event began at 4 p.m. at Tubman Terrace Park, and more than 500 people gathered, aiming to remain peaceful.

Protesters made history as they walked over the mid-Hudson Bridge in honor of George Floyd. Organizers say this has never been done before. 

Because of safety concerns only about 100 of those people were allowed to cross the bridge. 

Protesters were joined by county executives from Dutchess and Ulster counties in symbolically kneeling during the demonstration.

Organizers tell Spectrum News that, should anyone decide to engage in violence, they will make sure it ends and doesn't go further.

“It was important to allow people to have their voices heard. At the end of the day, our hearts break and the heart of America is broken open. And the anger and the frustration and the anxiety that people feel needs to be heard. And people like me? People like me who don’t know the walk, who don’t know the challenge of being a person of color in America need to listen,” said Dutchess County Executive Marc Molinaro.

Organizers told Spectrum News that, should anyone decide to engage in violence, they will make sure it ends and doesn't go further.

In an effort to keep the peace against any rioters, organizers had children lead the march off the bridge.

Earlier in the day, officials with Dutchess County Emergency Management said people driving should avoid the area, saying delays are expected near the Arterial, Jefferson and Market streets, and that will be the case into the evening hours.