Security measures in the US have been lifted as unrest over the death in police custody of African-American George Floyd eases. New York ended its nearly week-long curfew and President Donald Trump said he was ordering the National Guard to start withdrawing from Washington DC. The unrest has largely been replaced by largely peaceful worldwide protests against racism and police brutality. Black Lives Matter protests continued on Sunday in European nations. George Floyd died in police custody in Minneapolis on 25 May. Video showed him pinned to the floor, with a white police officer kneeling on his neck for almost nine minutes. Officer Derek Chauvin has been dismissed and charged with murder. Three other officers who were at the scene have also been sacked and charged with aiding and abetting. After days of protests, President Trump tweeted that the National Guard could start withdrawing from the capital as "everything is under perfect control". "They will be going home, but can quickly return, if needed. Far fewer protesters showed up last night than anticipated!" he said. The National Guard is the reserve military force that can be called on by the US president or state governors to intervene in domestic emergencies. Washington had seen angry protests outside the White House, particularly last Monday when demonstrators were cleared for Mr Trump to walk to a nearby church. Saturday's massive protest in the capital was peaceful. New York City Mayor Bill de Blasio tweeted: "We are lifting the curfew, effective immediately. Yesterday and last night we saw the very best of our city." The end of the curfew comes a day before New York enters the first phase of its plan to reopen after more than two months of lockdown due to the coronavirus outbreak. "Tomorrow we take the first big step to restart. Keep staying safe. Keep looking out for each other," Mr de Blasio said. New York has seen its fair share of violence in the past week, with looting of luxury stores in Manhattan, scores of arrests and the burning of dozens of police cars. There were also accusations against the police, including the beating of protesters. One patrol car was also driven into a crowd of protesters, sparking a row between politicians. Many major US cities that saw unrest have now lifted curfews, including San Francisco and Los Angeles, although a few protests have still led to clashes.