About 20 survivors attended the event at a grassy spot overlooking the harbor and the USS Arizona Memorial. They were joined by about 2,000 Navy sailors, officials and members of the public.
Gilbert Meyer, who lived through the December 7, 1941 bombing, said he returned to pay his respects to his shipmates from the USS Utah and say a prayer for them.
"I think about my shipmates and how they were killed. It reminds me that we're lucky we got off and we've made a good country for them," Meyer said.
Meyer later served in the battles at Attu, Kiska, Iwo Jima and Okinawa. He witnessed Japan's surrender in 1945 from the deck of the USS Detroit in Tokyo Bay.
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Herbert Elfring remembered hearing bombs explode and first thought the explosions were US training exercises.
"When I looked up and saw the red ball on the fuselage I knew it wasn't our plane," he said. "I knew it was a Japanese plane."
The Jackson, Michigan man is now 95 and said returning to Pearl Harbor for the anniversary of the attack makes him feel special because he's one of the few remaining survivors.
"I have one of those caps that says 'Pearl Harbor Survivor' on it," he said. "It's amazing how many people come up and thank me for my service."
The ceremony began with a moment of silence at 7:55 a.m. in honor of those who lost their lives the same time the attack began. Four Hawaii Air National Guard F-22 fighter jets broke the silence, with one plane peeling off from the group to symbolize servicemen still missing.
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