Fusilier Lee Rigby was killed in a brutal attack in the street outside Woolwich Barracks in south east London in May.
His widow, Rebecca, and their two-year-old son, Jack, cheered on members of the barracks who took part in a fundraiser in Medbourne, Leicestershire, yesterday.
Hundreds of locals turned out in the sunshine to support the event, which saw teams pull eight-ton trucks along a one-mile course through the village.
Money raised will be donated to a fund to help Private Rigby's son as well as local good causes in Medbourne.
Mrs Rigby said: "It's been a great day and there's a great turnout."
Close friend Lance Corporal Alex Roberts, from Woolwich Barracks, was one of the soldiers taking part in yesterday's truck-pull.
Paying tribute to Fusilier Rigby, the 34-year-old, from west London, said: "He was outgoing, he was a funny guy. If he wasn't being funny, he'd be winding you up about something. He was just a great guy to be around."
At the time of his death, Fusilier Rigby, a machine gunner in the 2nd Battalion, the Royal Regiment of Fusiliers, was separated from his wife, but they had not divorced. The 25-year-old, from Middleton, Greater Manchester, was engaged to Royal Military Policewoman Aimee West.