Large number of party supporters as well as people from parts of the constituency lined up along the road side to greet them.
Rahul along with Singh and PCC President Sachin Pilot greeted people from an open-roof SUV amid tight security arrangements.
The show began from Rao Tukaram circle and ended at Ashok circle after covering parts of the city.
Later, Singh held the district administration responsible for the cancellation of the conference.
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"This place was identified for press conference last night in a meeting with SPG and the district administration but the district administration today denied permission. Rahul Gandhi waited for five minutes outside the venue but he had to leave because of the district administration," Singh told reporters.
When contacted, the district collector MP Swami rejected the allegation and said that it was SPG, which did not allow to hold the press conference.