The battalion spent its tour of duty in Helmand Province and were deployed to the Upper Gereshk Valley.
Commanding Officer Rob Howieson said the parade was done as a "thank you" for support soldiers received from the city and the Highlands during the tour.
Lt Col Howieson said it had been a challenging six months.
Troops from the 1st Battalion Scots Guards have paraded in Inverness to mark the soldiers' return to the UK following six months in Afghanistan.