Some 50,000 people attended the rally in Mumbai, leading to traffic jam in south Mumbai throughout the day.
Mr Ambedkar had given an ultimatum to the Maharashtra government to arrest right wing leader Sambhaji Bhide, also known as Guruji, before March 26 or prepare for protests. Today's march was organised to follow up on that ultimatum.
Mr Ambedkar alleged that Sambhaji Bhide was as much responsible as Milind Ekbote for provoking the January 1 violence in Bhima-Koregaon. A day later, Mumbai also saw violent protests against the incident at Bhima-Koregaon with several acts of arson and vandalism.
Chief Minister Devendra Fadnavis, in the assembly, had said the government had made arrangements considering that huge crowds were expected at Koregaon. "There was stone-pelting from both sides. Even the police were targeted. The SP (superintendent of police) was also hit by stones," Mr Fadnavis had told the assembly.
The government has promised to withdraw cases filed during protests after the Bhima-Koregaon violence, except for those who have been caught vandalising public property. Mr Ambedkar met with the chief minister on Monday afternoon to press for the demand of arresting Sambhaji Bhide.
Get Breaking news, live coverage, and Latest News from India and around the world on NDTV.com. Catch all the Live TV action on NDTV 24x7 and NDTV India. Like us on Facebook or follow us on Twitter and Instagram for latest news and live news updates.