We went to see the lanterns floating on the moat at the Imperial Palace, but we arrived to late to see them launched. They were very pretty in the twilight from the height of the moat walls, but the best view must have been with those who had rented boats and were rowing among them.
Slightly disappointed, we walked through the Mitama matsuri, arriving just in time to watch a troop of men pushing a giant, lighted float through towering walls of stacked lanterns towards the shrine.
The matsuri had dozens of food stalls, vending everything from ikayaki (grilled squid) to candied apples. We shared some Doraemon-shaped cakes, but ended up eating dinner out.
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