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
9. First Minister of Scotland
First Minister of Scotland Humza Yousaf and co-leader of the Scottish Green Party Lorna Slater (centre) take part in a Believe in Scotland march from Edinburgh Castle in Edinburgh. Picture date: Saturday September 2, 2023. Photo: Jane Barlow/PA Wire Photo: Jane Barlow
10. Full support
People take part in a Believe in Scotland march and rally from Edinburgh Castle. Photo: Jane Barlow/PA Wire Photo: Jane Barlow
11. Scotland's for Europe
An anti-Brexit banner, saying Scotland still wants to be part of Europe, was held aloft. Photo credit: Jane Barlow/PA Wire Photo: Jane Barlow
12. On stage
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