Around 300 people joined a demonstration on the Broadwater Farm estate in Tottenham to take their message to the street that black lives matter.
They also accused the police of racism and demanded justice for other people who died in controversial circumstances, including Jermaine Baker and C.
Among the protesters were Mr Duggan’s mother Pamela and his aunt Carole, who marched alongside Mr Baker’s mother.
The demonstrators said there was no sign of institutional racism changing in the Metropolitan Police.
Tottenham Rights campaigner Stafford Scott told the crowd that instead of being in a “post-racial society”, it is one in which racism is still “creeping” in.
And he suggested the Met’s new counter-terrorism units may target people in Tottenham when they are not fighting terrorism.
Duggan’s death on August 4 2011 at the hands of a police marksman triggered riots across the capital in which shops were looted, buildings set alight and stand-offs with police.
The violence quickly spread to other parts of the country, including Birmingham, Bristol and Manchester over the following few days.
Today’s protest followed the same route as a procession held five years ago in the wake of his death.
Carole Duggan said: “We are doing it to show the country that we are not this gangster family. We are trying to show the people who Mark really was, who we really are.”
She said there had been a “systematic smear campaign” against his name, and slated as “perverse” an inquest verdict from 2014 that found his death on August 4 2011 at the hands of a police marksman was lawful.
Ms Duggan said: “Right now, as it stands, the police can shoot any unarmed person they want. They don’t have to be armed now, because of that verdict.”
But Ms Duggan said in the intervening years the police had failed to learn any lessons and accused them of wanting to adopt a violent “American style” of policing in London.
As the demonstrators marched through the streets they carried placards saying “jail racist cops” and “white silence kills”, and chanted slogans such as, “Whose streets, our streets” and “Hands up, don’t shoot”.
At one point Carole Duggan and Jermaine Baker’s mother embraced, Ms Duggan saying: “When the police think that they can make our communities into gangsters, this is what they are creating – unity.
“They are giving us what we want – people coming together and living in harmony and unity.”
Two officers walked ahead of the march, and when the demonstration reached the High Road in Tottenham – which police had closed to keep people safe – the protest made for the police station, where five years ago to the day Duggan’s family went to report his death.
After a minute’s silence community representatives spoke of their frustrations and anger.
A community artist attacked the area’s MP David Lammy for not attending, and read out a poem which threatened another riot unless there is “justice” for Duggan.
And Mr Scott told the crowd that instead of there being in a “post-racial society”, they were living in one in which racism is still occurring by “creeping”.
And he suggested the Met’s new counter-terrorism units may “target” people in Tottenham when they are not fighting terrorism.