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The Yatra will pass through Karnataka for 21 days covering 511 km in the state. It began on September 7 from Kanyakumari and entered Karnataka on Friday after passing through Tamil Nadu and Kerala.
Sonia Gandhi will walk with the participants on October 6 during the Karnataka leg of the Yatra, a party source said.
This would be the first time that Sonia Gandhi will participate in the Yatra which began when she was abroad for a medical check-up.
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The Yatra has entered a crucial phase with the Karnataka leg as the state goes to polls next year and is the first time when it is passing through a BJP-ruled state.