Promising to be a president “for all Americans”, Biden used his Inaugural Address to acknowledge the deep divisions in US society and the devastating loss experienced by Americans amid the pandemic.
“Few people in our nation’s history have been more challenged or found a time more challenging or difficult than the time we’re in now,” he said.
“To overcome these challenges, to restore the soul and secure the future of America, requires so much more than words and requires the most elusive of all things in a democracy: unity.”
Biden urged Americans to “end this uncivil war that pits red against blue, rural versus urban, conservative versus liberal”.
“We can do this if we open our souls instead of hardening our hearts,” he said.
Biden took the oath of office shortly after Kamala Harris was sworn in as vice president, the first woman and first woman of colour to serve in the role.
Her ascension makes her the highest-ranking woman in the history of the United States.
Take a look at some of the memorable images from the day:
President-elect Joe Biden, Jill Biden, Vice President-elect Kamala Harris and Doug Emhoff, arrive at the steps of the U.S. Capitol ahead of the inauguration.
The West Front of the U.S. Capitol.
U.S. President-elect Joe Biden and his wife Jill Biden arrive for the 59th Presidential Inauguration.
Lady Gaga performs the national anthem.
Jennifer Lopez performs during the inauguration.
Former U.S. presidents George W. Bush and Bill Clinton attend the inauguration.
Amanda Gorman recites a poem during the inauguration.
A US Capitol Police officer stands guard outside the Capitol Building.
Former U.S. president Bill Clinton.
Kamala Harris is sworn in as U.S. Vice President as her husband Doug Emhoff holds a bible.
Joe Biden is sworn in as the 46th president of the United States by Chief Justice John Roberts as Jill Biden holds the Bible.
First lady Jill Biden places her hands on U.S. President Joe Biden.
President Joe Biden waves to the crowd after being sworn in.
U.S. President Joe Biden speaks during the 59th Presidential Inauguration.
U.S. President Joe Biden with former U.S presidents George W. Bush and Bill Clinton.
U.S. President Joe Biden with former U.S president Barack Obama.
Former U.S. vice president Mike Pence and U.S. Vice President Kamala Harris talk after the inauguration.
U.S. President Joe Biden leaves with wife Jill after his inauguration as the 46th President of the United States.
U.S. Vice President Kamala Harris leaves after the inauguration.
Jill and Joe Biden.
U.S. President Joe Biden signs three documents including an Inauguration declaration, cabinet nominations and sub-cabinet nominations, as U.S. Vice President Kamala Harris watches in the Presidents Room at the U.S. Capitol after the 59th Presidential Inauguration.