The Congress leader, flanked by security personnel, marched amid chants of 'Congress Zindabaad', waving to his supporters who surrounded him.
MRCC President Sanjay Nirupam and former MP Priya Dutt were among the Congress leaders who accompanied Gandhi during the foot march.
Congress supporters holding placards and waving party flags joined Rahul in the march to Dharavi.
Before his march, Rahul interacted with the management students of a business school in Vile Parle, where he spoke on issues like the GST Bill and the Modi government's response to the Pathankot terror attacks.
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On the padyatra route, Gandhi spoke to auto-rickshaw and taxi drivers, who he said apprised him of the problems faced by them.
"They are required to pay bribes. They face problems in getting permits and have to be 10th pass to get one," he said.
During the march, Gandhi also met representatives of small businesses from Dharavi. He met hawkers and street vendors at a stopover during the padyatra.
"Plastic, garments, pottery and leather goods businesses in Dharavi are doing great work but need the right ecosystem and support from the government," he said.