Charlton, now 78, made his debut for United 60 years ago and scored a club record 249 goals for them in 758 appearances before leaving in 1973.
United manager Louis Van Gaal, speaking before fans gave Charlton a rousing reception minutes before Sunday's Premier League match against Everton, said: "As a child, when I watched football, we have seen finals and I picked up my idols.
"One was Jimmy Greaves and the other was Bobby Charlton. He has been in my mind for a long time. Then I met him at Old Trafford when I became manager, it was a big honour for me and he gets the honour he deserves today."
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(Reporting by Mike Collett, Editing by Ian Chadband)
