Video: Pope Francis receives grand welcome in Washington after landing in U.S.

WASHINGTON (WABC) -- Pope Francis was greeted with cheers as he walked off the plane at Joint Base Andrews in Washington, D.C., Tuesday afternoon.

This is his first trip ever to the United States, and he received quite the welcome. He removed his cap and waved before descending the stairs of the plane and was greeted by President Barack Obama.

With a red carpet beneath Pope Francis' feet, the two men, both with beaming smiles, shared a lengthy handshake before the pope greeted First Lady Michelle Obama, first daughters Sasha and Malia, and Mrs. Marian Robinson.

WEB EXTRA: Click on the video above to watch Pope Francis' arrival in Washington

The pope then shook hands with Vice President Joe Biden, the first Roman Catholic vice president, who introduced the pope to his family - Dr. Jill Biden and granddaughters Maisie and Finnegan. The pope continued down the receiving line where at the end he was greeted by four young DC school children - two boys and two girls - who presented him flowers.

The president and pope then walked through the honor guard across the tarmac to the distinguished visitors lounge at Joint Base Andrews, where they spent a few minutes out of the public eye together. The pope, president and first lady exited the lounge and returned back to the tarmac where they again shook hands before parting ways at 4:20 p.m.

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The pope left the tarmac in a simple dark Fiat car bearing a small Vatican City flag. The president and pope will reunite Wednesday in a ceremony on the South Lawn of the White House.

It's very rare for a president to travel to Joint Base Andrews to greet a foreign dignitary. President George W. Bush became the first president to greet a pope at Joint Base Andrews in 2008 when Pope Benedict visited the United States.

As the greetings took place, the crowd assembled at Joint Base Andrews was heard chanting "Ho Ho Hey Hey Welcome to the USA!"

U.S. Secret Service Director Joseph Clancy was on the tarmac looking on and supervising his team throughout the arrival.