Use E-TTL. Start by setting the flash exposure compensation to -1. You may ultimately decide that you want -2/3rds or maybe -1-1/3rd. Salt to taste.
The camera is going to want the flash to provide enough power for a proper exposure... but outdoor daytime is already providing enough power for a proper exposure. You don't want the flash to match the light... you want it to be just a bit weaker. By setting flash compensation to "-1" that tells the flash to identify the amount of power needed for a proper exposure... but then only fire using HALF that power. That creates a flash contribution ratio where the flash provides 1/3rd of the light and the sun (or ambient source) provides 2/3rds of the light. This creates a look in which the shot appears to be lit by available light... but the shadows have been filled in by your flash (not completely... you still get shadows but they aren't as severe.)
And this is where the "salt to taste" comes in... you might prefer slightly more flash power or slightly less, but if you start at -1 you'll be at a good starting point.
The OP mentioned the parade will be held at night..."outdoors in the dark"...
If the OP has a d-slr, and I imagine he does, then elevating the ISO setting might be advisable, since a single speedlight outdoors, at night, doesn't really have an overwhelming amount of power. With most speedlights, using Manual flash power setting, the FULL power output setting recycles fairly slowly when a speedlight is being powered by four, 1.5-volt penlight batteries. After more than two dozen shots, the batteries might be providing very slow recycle, so using an AUTO-flash setting of some type will more than likely cut the recycle time quite a bit.
How about some details as to flash and camera and lens that you plan on using? WHat are you after? FULL-float shots from say 30,40 feet distant? CLoser-in shots of smaller parts of the floats, or participants riding on the floats?
With a shorter lens lengths, like something between 16mm and 30mm, you might be able to use a fairly wide f/stop, like say f/4, and ISO 800 to 1,000 and get "decent" recycling speed, and also decent exposures.