The Dartmoor Rescue Group helped a participant with a leg injury
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Organisers of the Ten Tors challenge have described this year's event as one of the most successful in recent years.
The first team members to complete the challenge crossed the finish line before 0900 BST on Sunday.
More than 2,000 young people took part in the annual event on Dartmoor, with just over 10% dropping out.
Lieutenant Colonel Dermot O'Donovan said this year's event ran very smoothly.
They come back to that finish line changed people, I think
Lieutenant Colonel Dermot O'Donovan
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"We are very fortunate that we have only had a small number of very minor injuries," he said.
"The weather too has helped."
And he believes the experience will have a lasting effect on those who took part.
"In many cases it's the first time these youngsters have worked together as a team and battled against the elements.
"They come back to that finish line changed people, I think."
Participants in the annual event left Okehampton Camp at 0700 BST on Saturday to cover distances of 35, 45 or 55 miles according to their age.
Vigorous training
Major General Nick Cottam, the general officer commanding the Army's 5th Division, saw the 2,400 youngsters off on the challenge.
The Ten Tors is not a race, instead it is designed to test self will and determination against the odds of rough ground and the elements.
About 150 other young people with special needs, both physical and educational, also took part on a 15-mile route called the Jubilee Challenge.
Each team is supported by an officer cadet from Exeter University on the 15-mile route.
Each of the 400 teams completed a vigorous training and all the entrants were self supporting; carrying their own food, water, bedding, tents and rubbish bags.