Polls have closed in 53 cities and towns across Massachusetts with voters deciding several mayoral contests.

In the spirited race to succeed the late Democratic state Sen. Thomas Kennedy, Democratic Rep. Michael Brady of Brockton defeated Republican state Rep. Geoff Diehl of Whitman and independent Anna Raduc.

Republican Gov. Charlie Baker had campaigned on behalf of Diehl.

There were also mayoral elections in two dozen communities including Springfield, Worcester, Quincy and in Weymouth.

In Quincy, incumbent Thomas Koch easily defeated William Phelan, a former mayor. In Worcester, incumbent Mayor Joseph Petty defeated challengers Michael Gaffney and William Coleman.

In North Adams, Mayor Richard Alcombright defeated the man he beat six years ago, former Mayor John Barrett III. In Chicopee, incumbent Mayor Richard Kos brushed back a challenge from former mayor Michael Bissonnette.