After marching from their town centre HQ to Tanglewood in Louth Road, the cadets chatted to residents about their memories of time spent in the forces.
Some of the 53 residents had also produced some memorabilia from their own past.
It is the first time the cadets have visited the home, but now staff hope the relationship can develop into a strong partnership.
“The residents really enjoyed the visit and the cadets were fantastic,” said organiser Stephanie Townsend, activities co-ordinator at the home.
“They spent a great deal of time chatting and sharing experiences with all the people here and we can’t wait to have them back.
“Clearly, on the evidence of the number of smiles around the home, the day was a great success.”
Resident Ray Darlington was one of those who enjoyed the visit.
“It was great to see the cadets parading outside and brought back some lovely memories,” he said.
“The cadets were kind enough to spend some time with us and it was great to swap stories about how some things have changed, and how some haven’t, in the forces over the years.”
The cadets have agreed to visit again on Remembrance Day and also help out with gardening.