Hundreds gather for Mark Duggan vigil in north London

The 29-year-old's relatives and supporters called for the 2pm rally to remain peaceful, after the Metropolitan Police warned that a minority may have planned to "provoke disorder". 

Mr Duggan's family was protesting what it branded a "perverse" inquest finding this week, when a jury ruled that the father of six was lawfully killed by police in a shooting that sparked riots across England in August, 2011. 

His mother, Pamela, and aunt, Carole, were joined by crowds with placards which read "Justice for Mark Duggan - 1476 deaths in custody or following police contact since 1990 not one conviction".

Reggae and hip hop music was played from loud speakers as the family of Sean Rigg, a black musician who died in Brixton police station, joined the march.

Trade unionists were also present, while Tottenham Hotspur fans went past the protest to their home game against Crystal Palace at nearby White Hart Lane.

The crowd held a minute's silence before chanting "No justice, no peace".

Later they shouted: "Who are the murderers? Police are the murderers."

Carole Duggan told protesters: "The more we people come together and support each other, maybe we can make a better life for our children, for all of those children who have to live in these communities that are over-policed, where they are not free.

"They don't have the same freedom as other children in other parts of the country and that's not fair.

"What we have got to remember - Mark isn't here and we are doing this for his children.

"So let's show the country that we are not this gangster family that the media has been systematically portraying us as.

"Mark was not a gangster, the media sustained a campaign against him. We're just an ordinary family."

Anger spilled out at the Royal Courts of Justice on Wednesday, when an inquest jury found by a majority that Mr Duggan was lawfully killed.

They said it was most likely that he had a gun with him in the minicab, but had thrown it onto a nearby grass verge before he was shot.

Family and friends of Mr Duggan shouted and swore, and his brother, Marlon, had to be physically restrained as the conclusions were read.

Today, Mr Duggan's aunt called for a new Independent Police Complaints Commission (IPCC) investigation into his death.

She said: "Mark did not get the justice he deserved from the inquest, so therefore we have no alternative but to go back to basics, start at the beginning.

"The beginning was with the IPCC - what we really want the IPCC to do now is what they should have done in the beginning and that is a thorough investigation."

Earlier, the Met Police said extra officers had been put on standby in case a "minority" of the protesters used the vigil as an opportunity to "provoke disorder". 

Met Police commissioner, Sir Bernard Hogan-Howe, thanked the Duggan family for their public calls for peace at the vigil. 

He said: "It's a terrible tragedy that someone's lost a life in this case, and clearly the family want to register, I believe, their protest about the outcome of the inquest.

"They've got every right to do that, and we as the police have got every opportunity to facilitate that so that's exactly what we will do."