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1650s, "a show of bravado," also "an assembly of troops for inspections," from French parade "display, show, military parade," from Middle French parade (15c.), or from Italian parate "a warding or defending, a garish setting forth," or Spanish parada "a staying or stopping," all from Vulgar Latin *parata, from Latin parere "arrange, prepare, adorn" (see pare), which developed widespread senses in Romanic derivatives. Non-military sense of "march, procession" is first recorded 1670s.
1680s (transitive), from parade (n.). Intransitive sense from 1748. Related: Paraded; parading.