A new exhibition was also opened at Edinburgh Castle looking at the first decade of the regiment's operations.
The creation of the Royal Regiment of Scotland in 2006 was controversial at the time.
It meant names of famous regiments such as the Royal Scots and the Kings Own Scottish Borderers would disappear.
Others such as the Black Watch and the Royal Highland Fusiliers would reform as one of the new six battalions of the new regiment.
Now a decade on, senior offices said the Royal Regiment of Scotland had been almost continuously on active operations, creating its own history.
That history was marked earlier with a parade down the Royal Mile leaving the castle at 11:00 led by the regimental mascot, the Shetland Pony Cruachan the fourth.
Major General James Cowan, the regiment's senior officer, said: "Our soldiers will be proud to parade in Edinburgh on Friday symbolising the support we receive from the wider community across Scotland and we are very grateful for Edinburgh City Council for allowing us to 'Exercise our Freedom'."
"Since the Regiment was formed in 2006 our soldiers have deployed almost continuously on operations around the world, so the Regiment is now building its own proud history as we head into the future.
"The service in the Canongate Kirk will provide us with an opportunity to reflect on our first ten years and commemorate those who have paid the ultimate sacrifice for their country."
Steve Cardownie, Edinburgh's Depute Lord Provost, said: "It is a true honour to welcome The Royal Regiment of Scotland to the City Chambers.
"This parade is a fitting demonstration of Edinburgh's steadfast support for the brave men and women who continue to put their lives at risk in service of this country.
"Of course, as we celebrate the last decade, we will also remember those who have paid the ultimate sacrifice."

The 21-year-old suffered up the injury late on in Saturday's 1-1 draw at Championship leaders Burnley.
After being recalled early from loan at League One side Millwall, he was making his first Wolves start in five months.
But there is now a chance he may not play again this season, after being ruled out for a minimum of four weeks.
"We will have to see how he progresses," said Wolves medical chief Phil Hayward. "He has sustained an injury to his left quad and scans have revealed it to be a grade two injury.
"He has a chance to be back and available before the end of the season. He will be out for probably four to six weeks."
Wolves boss Kenny Jackett is now without eight first-team players.
Striker Nouha Dicko, wingers Razak Boukari and Jordan Graham and defender Ethan Ebanks-Landell are all out for the season, while centre-half Mike Williamson, winger James Henry and midfielder Dave Edwards are also absent.
Edwards, who is on course to return from his broken foot next month, is still hopeful of being fit for Wales' Euro 2016 campaign this summer.
Williamson and Henry could return sooner, having been lined up to resume training following the Easter weekend.
Beacuse of the international break, Wolves do not have a game until Saturday 2 April when they host former manager Mick McCarthy's Ipswich Town.

16 May 2016 Last updated at 06:45 BST
The athletes will wear the outfits at special events at the games in Rio this summer.
Children across the UK were asked to send in their messages of support for Team GB and then 10 of the best were chosen.
Leah was at a special photo shoot to meet the athletes wearing their new gear.
This report contains some flash photography.
Soldiers from the Royal Regiment of Scotland have paraded down the Royal Mile in Edinburgh to mark the 10th anniversary of its creation.
[NEXT_CONCEPT]
Wolves midfielder Jed Wallace has become the Championship club's latest injury casualty and will be out for up to six weeks with a thigh strain.
[NEXT_CONCEPT]
Team GB have been showing off their new suits that have good luck messages from children printed inside.