Addressing a crowd outside the Scottish Parliament, the SNP leader said he aims to be the First Minister to deliver Scottish independence.
Mr Yousaf told journalists after the rally that approximately 25,000 people attended the Believe In Scotland event.
Delivering a speech outside Holyrood, he told the crowd that Scotland was facing a “cost-of-union crisis” as he made the case for Scotland’s place in Europe, secured through independence.
Government ministers Lorna Slater and Jamie Hepburn also delivered speeches.
Take a look through our gallery to see 12 photos of Saturday's Believe In Scotland march in Edinburgh.
. Man in the middle
First Minister of Scotland Humza Yousaf (centre) takes part in a Believe in Scotland march from Edinburgh Castle in Edinburgh. Photo: Jane Barlow/PA Wire Photo: Jane Barlow
. Believe in Scotland
People take part in a Believe in Scotland march and rally in Edinburgh. Photo: Jane Barlow/PA Wire Photo: Jane Barlow
. Yes man
First Minister of Scotland Humza Yousaf addresses a crowd outside the Scottish Parliament following a Believe in Scotland march from Edinburgh Castle. Photo: Jane Barlow/PA Wire Photo: Jane Barlow
1. Man in the middle
First Minister of Scotland Humza Yousaf (centre) takes part in a Believe in Scotland march from Edinburgh Castle in Edinburgh. Photo: Jane Barlow/PA Wire Photo: Jane Barlow
2. Believe in Scotland
People take part in a Believe in Scotland march and rally in Edinburgh. Photo: Jane Barlow/PA Wire Photo: Jane Barlow
3. Yes man
First Minister of Scotland Humza Yousaf addresses a crowd outside the Scottish Parliament following a Believe in Scotland march from Edinburgh Castle. Photo: Jane Barlow/PA Wire Photo: Jane Barlow
4. Lorna Slater
Co-leader of the Scottish Green Party Lorna Slater addresses a crowd outside the Scottish Parliament following a Believe in Scotland march from Edinburgh Castle. Photo: Jane Barlow/PA Wire Photo: Jane Barlow