The British double leg amputee who won gold in the 200m at London 2012 was joined by local runners on his 40-marathon journey from John O'Groats to Land's End.
Richard, 37, took on the challenge to raise money for cancer charity Sarcoma UK and disability charity Scope.
He will finish his 977-mile, 40-day journey on Monday, September 23.
Richard's slogan for the challenge is 'Celebrating Life Without Limits' and he has proved that by triumphing on the world stage.
His gold medal winning time at London smashed the world record and inspired him to get on the road and make a difference.
He said: "2012 gave me a great platform to do that and to leave a lasting legacy in sport.
"Because you can see my impairment when I am running it highlights that you can achieve so much if you put your mind to it.
"The message is about positive things happening to positive people and whether you have got an impairment or not, if you are continually challenging yourself within whatever field you're in you can achieve success and success isn't measured in medals or world record times.
"It is about continually getting up in the morning feeling inspired and setting yourself a goal for the day, the week and the year."
He said running through Glasgow was special because it is set to host the Commonwealth Games.
Although Richard will not be competing, as his event is not in the Games, he will be commentating and supporting his fellow English and Scottish athletes.
Richard urged people to come out and support their athletes.
He said: "It is going to open up a lot of opportunities for people with impairments and disabilities as well as inspire able bodied athletes and disabled people to take part in a chosen sport or maybe try a different sport."