Pope Francis salutes faithful before inauguration
Pontiff tours St Peter's Square in jeep19 March, 09:18
A huge wave of cheers greeted the pontiff, who was elected Benedict XVI's successor at last week's conclave.
Francis stopped the jeep at one point to stoke and kiss two children held out to him from the crowd, which was dotted with the flags of countries from all over the world, including the pope's native Argentina.
He also blessed the faithful, smiled and seemed to mouth the word 'Ciao'.
After the tour, Francis went back inside to put on his ceremonial vestments.
Delegations from over 130 governments are attending the event.