One witness said the two congregations “joined in the singing of Ein Keiloheinu and Adon Olam, albeit to slightly different tunes.”
A police van accompanied the Belsize Square congregants on their one-mile walk.
Sir Keir Starmer, the local Labour MP, and Board of Deputies president Marie van der Zyl were among those who took part.
The was not the first time the two synagogues, which are a mile apart, have cooperated: Rabbi Eli Levin said members of his South Hampstead congregation used Belsize Square’s hall for their daily minyan while their own synagogue was being rebuilt.
Last weekend’s graffiti was removed by council works on Sunday.