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
First to carry the baton in Dundee is Gerard Cahill.
Gerry is the chief instructor of the Dundee Wildcats Taekwon Do club. Under his expert tuition, a number of his students have gone on to represent Scotland and win a number of international titles.
Some great news for athletics fans. It looks like Usain Bolt will be competing at the Commonwealth Games in Glasgow.
He is unlikely to take part in an individual event but could run in the relay.
Rheana Milne was the last baton bearer in Broughty Ferry. The police escort linked hands to form a Grand Old Duke of York-style tunnel for her to pass through.
The baton is now on the bus heading to Dundee.
Simon Dedman
BBC News
Everyone's favourite anarchic schoolboy Dennis the Menace carried the baton in the speedboat. Dennis is the star of the Beano comic, which is published by Dundee-based DC Thomson and Co.
He looks a lot taller in real life doesn't he?
The baton has arrived in Broughty Ferry by speedboat. Baton bearer Alastair Nicol handed it over to Sandy Bremner, as a piper played "Scotland the Brave."
If you were watching the video stream on this page, the large building was Broughty Castle, which is located in Broughty Ferry.
The castle was completed around 1495 and saw action in both the War of the Rough Wooing and the War of the Three Kingdoms.
It is currently a museum.
Chris Radburn has tweeted , externalthis picture.
Image source, Chris RadburnHe says: "Great start to the day here in Dundee, loving the @Batonrelay2014, external"
People from every area in Scotland have been asked to support a second team during the Commonwealth Games by sportscotland.
Image source, Glasgow 2014Dundee City has been linked with South Africa. Find out more about the programme, external.
If you are going to see the baton today in Dundee, here is a rough guide of places to go and times:
07.35Tayport
07:55Broughty Ferry
08:30Dundee City
12:35Camperdown
13:50Dundee City
14:25Law Hill
14:40Dundee City
15:00McTaggart Gymnastics Centre
15:50Caird Park
16:10Dundee City
18:20Dundee City Centre
Good morning and welcome to the next stage of the Queen's Baton Relay on the route to Glasgow 2014. Today, the baton is in Dundee.