This weekend, motorcycle enthusiasts are celebrating the 110th anniversary of Harley-Davidson with a festival in Milwaukee to mark the occasion, according to NBC. The festival began Thursday and will continue through Sunday, September 1.

Some of the riders spoke to NBC about perceptions of motorcyclists, many resulting from stereotypes based on motorcycle groups like the Hell's Angels.

"The Harley community is a unique world," Robert, 52, said. "One percent are outlaws but 99 percent of us just like to ride motorcycles and have a good time."

For that 99 percent of motorcycle riders, there is a good time to be had in Milwaukee, where many are headed this weekend. The festival will feature concerts from acts such as Aerosmith, Kid Rock and ZZ Top, as well as factory tours of the company and special events at the Harley-Davidson Museum.

"This is actually the end of our anniversary year," Mark-Hans Richer, the senior vice president and chief marketing officer for Harley-Davidson, said. "It's a return to the mecca of motorcycling in Milwaukee, which is hard to say three times fast, but you get the idea."

The festival is demonstrative of the strength of the Harley-Davidson brand, which was founded in Milwaukee in 1903.

It's "really the sole survivor of the American motorcycle business," Jason Fogelson, an automotive journalist who is a festival partner and blogs for Best Western, said.

The festival is also including activities for those who don't ride, such as over a dozen exhibits on the history and design of the motorcycles, as well as their cultural impact on fashion, culture and travel. 

The museum will be displaying the oldest known Harley in existence, "Serial Number One," as well as a 1965 KH model owned by Elvis Presley. There will also be a bike show to celebrate the customization of motorcycles that will feature 160 models in 11 categories.

"Motorcycles are a great way to get out on the road and immerse yourself in what's going on," Fogelson said. "You're not isolated in a capsule, you're hearing everything, smelling everything and part of the environment."