Peter Jordan (above, right), from Sawyer's Church in Brentwood, was joined by hundreds of well-wishers on the three-day journey.
He was allowed 40 metres underground to see the Liverpool Street Crossrail station being built (below), including tunnel-boring and platform and track construction.
Pastor Pete was joined on the journey by Peter Hancock, who works for Crossrail.
Sawyers Church currently ministers to children, young people, the elderly and those with learning difficulties and it hopes Pete's walk will raise £50,000 of the £2.7m needed for the new church building, which already has planning permission.
You can follow each day of Pete's journey in the videos below:
Speaking to Premier Christian Radio, Peter said: "There was a big shaft where they bring down all of the equipment and we looked 40 metres up to blue skys and London buildings that almost looked like they were going to topple down the shaft. It was quite incredible.
"Different people from our local church and local community joined us on the walk. Even my little boy's teacher joined us for part of it, so that was good.
"It was a great experience. Thank you to everybody who's supported the Crossrail walk."
Listen to Premier's Aaron James speaking to Pete Jordan:
