Top Republicans publicly congratulated the president on his inauguration and urged Americans to celebrate the history and symbolism of the day.
"Today we praise the American tradition of transferring or reaffirming immense power in the inauguration of the president of the United States. We do this in a peaceful, orderly way," Republican Sen. Lamar Alexander of Tennessee said.
"Find the good and praise it."
House Majority Leader Eric Cantor, a Republican from Virginia, tweeted congratulations to Obama and Biden.
Senate Minority Leader Mitch McConnell of Kentucky said in a statement that he wishes the president "well in the fulfillment of his duty to lead the U.S. at home and abroad over the next four years."
"The president's second term represents a fresh start when it comes to dealing with the great challenges of our day; particularly, the transcendent challenge of unsustainable federal spending and debt," McConnell said.
"Republicans are eager to work with the president on achieving this common goal, and we firmly believe that divided government provides the perfect opportunity to do so."