Kate and Gerry McCann, both 39, arrived at the St Mary and St John church near their home in Rothley, Leicestershire, to join friends and villagers in a vigil for Madeleine.
They held hands as they walked into the14th Century church just before 9.30pm - the time Madeleine vanished while the family was on holiday in Praia da Luz in Portugal.
Prayers were said for her by Rothley vicar the Rev Rob Gladston - and scores of locals joined the McCanns in the church. Family friend Val Armstrong said: "They are so resolute in this. They are convinced that she is still alive and that is what we have to believe. I didn't think that we would still be here six months down the line. We pray every day and we'll continue to pray. Madeleine is just a little girl from our village as far as we are concerned."
A spokesman for the McCanns said the visit to the church was not part of any campaign to keep Madeleine's name in the public eye. He said: "They are here to say prayers and nothing else. For them this is just another day without Madeleine."
Earlier Kate McCann made a fresh appeal for information about Madeleine.
She said: "Six months is such a long time for a little girl to be separated from her family. We believe that our Madeleine is out there somewhere and retain hope that we can be reunited. Madeleine is a beautiful little person who deserves a loving and happy life."
Kate urged anyone with information to call a phone line manned by private detectives on 0034 902 300213.