The 70m (230ft) long tapestry was commissioned by William the Conqueror's half-brother, Bishop Odo of Bayeux, depicting the events surrounding the Norman Conquest, and culminating in the Battle of Hastings.
The expedition started on Thursday morning after the Bishop of Hull anointed the marchers with water from the font where William Wilberforce, who was elected as MP for the city in 1780, was baptised.