Police, homeguards and NCC contingents were among other participants in the parades taken out in district headquarters in the two states and their joint capital Chandigarh.
School students presented colourful programmes and tableaux exhibited development of the states at the parades held under foggy conditions at a few places in the region.
The Republic Day celebrations at most places in the two states were held under tight security arrangements.
V P Singh Badnore, Punjab governor and administrator of UT Chandigarh, unfurled the national flag in Pathankot.
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Punjab Chief Minister Captain Amarinder Singh unfurled the national flag in Patiala, while Haryana Chief Minister Manohar Lal Khattar unfurled the tricolour in Rohtak.
Several events were organised in district headquarters in Punjab and Haryana - including Ludhiana, Amritsar, Jalandhar, Gurgaon, Karnal, Sonipat, Gurdaspur, Sangrur and Rupnagar.
Ministers of Punjab and Haryana presided over the celebrations in district headquarters.
Security had been stepped up across Punjab, Haryana and UT Chandigarh in view of Republic Day programmes.