The parade took place Sunday before the mausoleum of Ayatollah Khomeini and preceded a speech by Iranian President Hassan Rouhani, in which he called for diplomatic talks with the West.
The newly elected Rouhani is scheduled to attend the U.N. General Assembly's annual meeting next week in New York. His call for diplomacy could result in the first meeting between U.S. and Iranian leaders in more than three decades, Ynetnews reported.
Meanwhile, Rouhani said Western governments must recognized Iran's right to enrich uranium. He said Iran isn't trying to make a nuclear weapon, but instead wants to enrich uranium for peaceful purposes, like research, cancer treatment and fuel.
"If they (Western governments) accept these rights, the Iranian people are a rational people, peaceful and friendly. We stand ready to cooperate and together we can settle all the region's problems and even global ones," he said. "The Iranian people want development and are not looking to make an atomic weapon."
Iran displayed 12 Sejil and 18 Ghadr missiles in Sunday's parade.