Pope Francis arrived at Andrews Air Force Base near Washington, D.C., Tuesday afternoon.

He was greeted by President Obama, First Lady Michelle Obama, Vice President Biden and his wife, Jill Biden, along with members of both of their families.

The pope is in the U.S. for the first time for a six-day, three-city visit. Obama and Francis will meet one-on-one at the White House on Wednesday.

On Thursday, the pope will address Congress and then fly to New York. On Friday, he will speak at the United Nations and celebrate Mass at Madison Square Garden.

On Saturday and Sunday, the pontiff will be in Philadelphia for the World Meeting of the Families, a conference billed as the largest gathering of Catholic families.

Watch the arrival ceremony above.

WATCH: Cruz Gets Boos Then Applause in Gay Marriage Debate with Colbert

Carson: My Comments on a Muslim Pres Candidate Didn't Fit the 'PC Culture'