The pope landed in Washington to begin his six-day U.S. trip Tuesday afternoon.

He was greeted by President Barack Obama, the first lady and their daughters. A military honor guard, school children and local leaders of the Catholic Church were also on hand to welcome the pontiff.

He will be spending the night at the Papal Nunciature in Washington, D.C. and has no public appearances scheduled.

The pope will be welcomed at the White House and meet with the president Wednesday morning. In the late afternoon, Pope Francis will say a canonization Mass at the Basilica of the National Shrine of the Immaculate Conception.

On Thursday, the pope will address Congress and then will depart Washington for New York.

Pope Francis is expected to arrive in New York at around 5 p.m. and will be saying an evening prayer at St. Patrick's Cathedral.

On Friday, Pope Francis will speak at the United Nations General Assembly.

From there, the pontiff will attend a service at Ground Zero at the 9/11 Memorial and Museum.

In the evening, the pope will ride the pope mobile through Central Park. The day will culminate with a historic Mass at Madison Square Garden.