As the peloton thundered through the village at speeds of up to 40kmph there were loud cheers of support.
Youngsters strained to get a glimpse of Tour de France hero Sir Bradley Wiggins, riding for his newly formed Team Wiggins.
The Jennison family, Oscar, 5, Sophie, 4, and dad Luke were out with handmade signs supporting Wiggins and Matt Prior.
Mr Jennison said: “They have loved it.
“They have been painting bikes and making signs. It passed right outside our house.”
Dennis Gormley had come down from Filey with his Union Jack.
“It’s just great for everyone,” he said.
“It’s the biggest thing to happen since the Tour de France.”
Local firm Schneider Electronics held a barbecue for its staff and had a party as the group went through the village.
TOUR DE YORKSHIRE FULL COVERAGE...
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DETAILED TIMINGS IN FULL..
• Stage 1
• Stage 2
• Stage 3