Mr Millin was serving with 1st Commando Brigade when he landed in France on 6 June, 1944. His commanding officer, Lord Lovat, asked him to ignore instructions banning the playing of bagpipes in battle and requested he play to rally his comrades. Despite being unarmed, Mr Millin marched up and down the shore at Sword Beach in his kilt piping "Highland Laddie". He continued to play as his friends fell around him and later moved inland to pipe the troops to Pegasus Bridge.
His bagpipes, which were silenced four days later by a piece of shrapnel, were handed over to the National War Museum of Scotland in 2001, along with his kilt, commando beret and knife