Seminarians from St. John's Seminary and Queen of the Angels led the procession. It was also attended by members of several religious orders, including the Friars and Sisters of the Poor Jesus and Daughters of St. Paul.
The procession concluded in the church parking lot with adoration, praise and worship, and silent prayer.
The Beloved Movement website says the procession seeks to remind people of the common dignity between those on the streets and those who are not. Since Christ bore the weaknesses of mankind, it says, there is no need to be afraid of each other.
"Jesus shared our weaknesses, wounds, and limitations so that we wouldn't need to be afraid of them, in ourselves or in others," the website reads.
The Beloved Movement partners with various organizations to foster relationships between homeless people and non-homeless people in Los Angeles. Father Spencer Lewrenz, one of the primary organizers of the event, said those in poverty need more than just resources.
"There are more and more resources," he told America Magazine when he was a seminarian in 2017. "And it isn't helping."