The Queen's Baton Relay travelled around the city of Dundee
It also visited Broughty Ferry, Camperdown and Caird Park
The baton went aboard RRS Discovery and was also carried by Dennis the Menace
Image source, Glasgow 2014Baton bearer Steven Maloney got to pose with Dundee FC players (pictured left to right) Craig Wighton, Cammy Kerr, and Matty Allan at the club's Dens Park ground.
Image source, Glasgow 2014Steven also got to have his picture taken with Dundee United players Ryan Dow (left) and Stuart Armstrong.
Image source, Glasgow 2014Mhairi Carroll carried the baton to McTaggarts Gymnastics Centre where the baton has stopped for a short break.
While the relay has stopped, we think it's time for everyone to try our Queen's Baton Relay quiz.
Image source, Getty Images
Image source, Glasgow 2014A kilted George Fyfe gave the thumbs up as he carried the baton towards the home of both Dundee FC and Dundee United.
The two rival clubs are famous for sharing the same street in the city.
Vikki Bunce, who is a midfielder/forward in Scotland's hockey team, carried the baton to the top of Dundee Law.
She has been named in the Scottish Commonwealth Games Glasgow 2014 squad.
The 572-foot Dundee Law was formed about 400 million years ago, according to experts.
Image source, Glasgow 2014
Jen Quinton hands the baton to her husband Gordon in a lovely moment in the relay in Dundee.
Jen has been a volunteer for over 30 years, and swimming coach with Dundee City Disability Sport.
One of the swimmers she coached swam at three Paralympic games - winning one silver and four bronze medals.
Gordon is also heavily involved in the sport and has been a disability swimming coach at all levels, from beginners to GB internationalists, since the 1980s.
Abbigail Cleary skipped and jumped down the streets of Dundee as she enjoyed her moment with the baton.
The people who nominated Abbigail said: "She was at the heart of the community and her high school when she lived in Dundee."
Abbigail, who now lives in London, was a prolific volunteer in dancing, gymnastics and other sports and a "role model for many aspiring athletes and performers".
Image source, Glasgow 2014Dundee Police have tweeted, external: "Fantastic crowds so far this afternoon for the #BatonRelay. Keep it up! #takeabowDundee"
Image source, Glasgow 2014Geography teacher Marjorie set up an exchange programme between schools in Dundee and Kenya.
The project allowed pupils from the Kenyan town of Meru to visit Dundee and the students who visited Kenya said "the experience was life changing".
During the international section of the Queen's Baton Relay we met Kenyan athletics legend Kip Kineo who set up a primary and high school more than 200 km from Meru, in the capital Nairobi.
We're back in convoy but only for a short while. We'll have more Dundee baton bearers in a few minutes.
Image source, Glasgow 2014Thomas Smith (left) and Francis Jordan carry the baton along Dundee's Turnberry Avenue, stopping to greet the crowds during their moment.
Lots of happy scenes on the streets of Dundee this afternoon.
Hope you are all fed and watered as the baton relay is about to return in Dundee.
Are you watching the video feed at the top of this page? Email you messages of support or tweet #bbcbatonrela, externaly.
The emails are flying in. We've even had the first baby of the day posing with the baton.
The BBC's Graham Stewart took this snap of four month old Lexie, who he described as looking "amazed to be pictured alongside the baton at Camperdown Park, Dundee".
Paula Hope was so "excited from meeting Clyde" it took her two attempts to send this photograph of the cheeky 2014 mascot.
She said: "Here we are with our dog Arnold, meeting Clyde. Brilliant event that allowed everyone to get involved!"
Kenny Mitchell emailed in to say: "I'm watching the live feed and hope that all the baton bearers in Dundee are having as much fun as we did in Dollar where I was a baton bearer on Wednesday."
Donald Cramb has tweeted , externala message of support for not one, not two but three of today's baton bearers.
He says: "Good luck carrying the #bbcbatonrelay, external today in #dundee to #laurenboag, #gavincruickshanks & especially me papa #reverikcramb"
Keep the messages coming. If Twitter's a bit too new-fangled, you can always email instead.
Paul has spent thousands of hours volunteering at Dundee North West Community Sports Club, a charity that develops sporting infrastructure for local people.
In the words of the people who nominated Paul, he is "a fantastic example of community spirit".
Spotted in Lochee Park: Active schools organisers actively getting to grasp the baton!
Regular viewers won't be surprised to see games mascot Clyde gatecrashing a photo opportunity. It's what he does best.
Image source, Glasgow 2014Alexander Rose was the last baton bearer before the relay boarded the bus for Camperdown Park.
At the end of his stint he danced the can-can with some of the police escort.
The escort do seem to like a good boogie.
Simon Dedman
BBC News
Dorothy Lang took the baton into Maggie's, a cancer rehabilitation centre in Dundee. Dorothy was nominated by her husband and is recovering from pernicious anaemia and gastric cancer treatment. She has been raising money for the centre.
Laura Johnstone (front far left) has been in remission for nine years, she uses the centre's facilities and offers support to new cancer patients.
Speaking about the baton, Laura said: "It's great, I can't believe I've seen it and not just on the telly!"
Music Development Dundee have tweeted, external: "Good News! #CommonwealthCeilidh is today! Are you ready to dance? #Dundee #BatonRelay, external"
A ceilidh will end today's baton relay in Dundee in the City Square from 17:30 BST
Image source, Music Development Dundee