Activists in Melbourne braved rain on October 31 to remember Shaun Coolwell, who died after being restrained by police in Kingston, south of Brisbane, on October 2.
His brother died in similar circumstances four years ago.
The rally called for an end to deaths in custody and for the Deaths in Custody Royal Commission's recommendations to be implemented.
The rally noted that not a single police officer or prison officer has been convicted for any of the 99 cases of Aboriginal deaths in custody between January 1, 1980 and May 31, 1989 that were investigated by the Royal Commission.