The Millennium Bridge opened on 10 June 2000 as London’s first new Thames crossing in more than 100 years. £7m of its £18m cost came from the Millennium Commisison.
The 320m-long structure was designed by the architect Sir Norman Foster with sculptor Sir Anthony Caro and engineers Arup. It was opened by The Queen.
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The bridge uses "lateral suspension" - an engineering innovation that allows suspension bridges to be built without tall supporting columns.
The designers predicted it would be a "blade of light" across the Thames, "an absolute statement of our capabilities at the beginning of the 21st century". Within days they closed it to the public.
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Tens of thousands of people crossed the bridge on its opening day. The structure was designed to take the weight but suddenly developed a very worrying and obvious wobble.
So what went wrong? And what have the engineers done to prevent the Millennium Bridge from becoming a millennium flop?
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