Two high-profile critics of President Maduro were captured from their homes in overnight raids. They were living under house arrest over allegations of inciting violence during anti-government protests in 2014.
Many protests have ended in clashes between masked youths and security forces, with more than 90 killed, hundreds arrested and thousands injured since the unrest began at the start of April.
Led by opposition leaders, lawmakers and Lilian Tintori -- the wife of jailed opposition leader Leopoldo Lopez -- the crowd carried flowers and placards denouncing "repression."
More anti-government demonstrations will be held this weekend as fears grow the government could be overthrown in a coup.
The opposition is demanding that elections be held to improve the country's deteriorated economy.
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