Dozens turned out to welcome home a ship that helped rescue thousands of soldiers during the Dunkirk evacuations of the Second World War.

The historic Medway Queen arrived in Gillingham this afternoon – 28 years after a preservation society was set up to restore it.

People waved flags and cheered as the paddle steamer pulled into Gillingham Pier after leaving Bristol, where it has spent the past five years being repaired.

Scroll down for video

Marshall Vine, 70, who set up the Medway Queen Preservation Society, was among those who welcomed it home.

“It is a very big day for Medway, hence the people here in the crowd.

“There were times when I thought the Medway Queen would never come home and it has been hard work, but a lot of fun.

"Watching her come in was very emotional. It is a great day, but we still have a lot of work to do.”

Paul Maloney, GMB regional secretary, added: “GMB and many others have backed the restoration of the Medway Queen from the very beginning.

“It is wonderful that it is home in Medway for the next stage of its total restoration to begin.

“The work and enjoyment that the whole project has brought to the area is a tribute to the many volunteers who have driven the project.”

The Medway Queen is hailed as the heroine of Dunkirk for her role in rescuing thousands of Allied troops from the beaches in the Second World War.

The ship and her crew made seven crossings to the beaches rescuing 7,000 British and French troops.

Video: Crowds watch the Medway Queen coming in to Gillingham

Her bravery and that of her gallant crew lead to the title “Heroine of Dunkirk" being bestowed.