The news coverage of the event help galvanise support for the passage of the Voting Rights Act of 1965.
Though Lewis is possibly best known for his march in Selma, he had already emerged as a leading voice in the fight for equal rights and had been arrested a number of times for the cause by then.
Lewis, 80, died July 17 several months after he was diagnosed with advanced pancreatic cancer.
As the wagon approached the bridge, members of the crowd shouted "Thank you, John Lewis!" and "Good trouble" - the phrase Lewis used to describe his tangles with white authorities during the civil rights movement.
Sunday found him crossing alone - instead of arm-in-arm with civil rights and political leaders - after his coffin was loaded atop a horse-drawn wagon that retraced the route through Selma from Brown Chapel African Methodist Episcopal Church, where the 1965 march began.
The bridge became a landmark in the fight for racial justice when Lewis and other marchers were beaten there 55 years ago on Bloody Sunday, a key event in the fight for voting rights for African Americans.
Lewis suffered a fractured skull and was one of dozens of nonviolent protesters who were hospitalized.
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Once on the other side of the bridge spanning the Alabama River, his body will again make that 54-mile journey from the Black Belt town that became a household name that bloody day to Montgomery, where his body will be received by mourners and will again lie in repose, this time inside the state capitol building. He was one of the original Freedom Riders in 1961, taking buses from the North to the Deep South to protest segregation at interstate bus terminals.
He co-organised and spoke at the 1963 March on Washington for Jobs and Freedom, the rally at which Dr King delivered his historic I Have a Dream speech. Lewis led hundreds of marchers across the Edmund Pettus Bridge on March 7, 1965 as they faced attacks by state troopers.
The bridgeis named for a Confederate general and KKK leader.
Selma officials, however, oppose the name change, according to the Associated Press.
Calls to rename the bridge for Lewis are increasing.
"You can't help but feel a sense of pride especially knowing what Bloody Sunday was all about and the sacrifice that John put forward for us to have the opportunity to vote and to see him take that last ride over the bridge, it was just very powerful", Sisaundra said of the moment.