Highlights from Biden's town hall with voters in Philadelphia.
With less than three weeks to Election Day, Democratic nominee for president Joe Biden faced voters directly in an ABC News Town Hall from the National Constitution Center in Philadelphia on Thursday night.
The live special edition of "20/20" -- titled "The Vice President and the People" -- was moderated by ABC News Chief Anchor George Stephanopoulos.
The primetime event followed a fiery back-and-forth on the fate of the second presidential debate, which was originally scheduled for Thursday in Miami but ultimately canceled last Friday.
The nonpartisan Commission on Presidential Debates changed its format to be virtual following President Donald Trump's positive COVID-19 diagnosis, to which Trump took issue, saying he wouldn't "waste" time in a virtual debate. With Trump's rejection of the event, Biden then agreed to participate in the town hall with ABC News.
Voters had the opportunity to ask the former vice president the questions most important to them
The event was held in accordance with state and local government health and safety regulations, as well as guidelines set forward by health officials.
Trump, at the same time Thursday, participated in a town hall from Miami with NBC News. The president participated in an ABC News town hall in September.
After Stephanopoulos ended the 90-minute town hall, Biden put on a mask and took questions from voters who remained in the hall.
"This is what Joe Biden loves," ABC News Chief Global Affairs Correspondent Martha Raddatz said following the town hall. "We'll all probably be in bed before he's out of that hall."
Democratic voter Keenan Wilson started his question by referencing that the former vice president said he entered the race following the "Unite the Right" rally in Charlottesville, Virginia. He asked Biden how he would steer Trump and his supporters "towards the ideals of a more perfect union."
Biden said he doesn't think Trump would stop his rhetoric and added that the president was emboldened by his impeachment.
The vice president said he would lead by the example set by his father and treat everyone with dignity.
"Whether I'm a defeated candidate for president, back teaching or I'm elected president, it is a major element of everything that I'm about," he said.
Biden said he feels most Americans want to be inclusive and provide opportunities to all regardless of race or background.
"If I'm elected president, you will not hear me race baiting, you will not hear me dividing, you will hear me trying to unify," he said.
Stephanopoulos asked Biden, if he lost, what that would say about the country.
"Well, it could say that I'm a lousy candidate and I didn't do a good job, but I think -- I hope that it doesn't say that we are as racially, ethically and religiously at odds with one other as it appears the president wants us to be," he said.
The vice president, however, said he is committed to making sure that if elected he would be a voice for all Americans.
"I think the people are ready, they understand what's at stake," he said. "I'm going to take care of those who voted against me as well as those who voted for me. For real. That's what presidents do. We've got to heal this nation."
BIDEN'S CLAIM: Biden claimed that neither he nor the doctors he has spoken with had not seen a plan from the administration to distribute a COVID-19 vaccine. "There should be a plan," he said. "When we have the vaccine, how do we distribute it?"
FACT CHECK: The Trump administration does have a plan to distribute a potential COVID-19 vaccine, although the president has misrepresented how quickly it could be distributed.
Some of that plan was outlined in a Sept. 16 "Distribution Strategy," released jointly by the U.S. Department of Health and Human Services and Department of Defense.
The documents, according to HHS, provide an overview of distribution plans along with guidelines for "state, tribal, territorial, and local public health programs and their partners on how to plan and operationalize a vaccination response to COVID-19" in their communities.
The Trump administration also created "Operation Warp Speed," a partnership between HHS and DOD, as well as other private and federal agencies, to accelerate the research, development and eventual distribution of COVID-19 vaccines and treatments.
HHS Secretary Alex Azar has said that as part of Operation Warp Speed, federal officials have been laying the groundwork for vaccine delivery. "This in-depth, round-the-clock planning work with our state and local partners and trusted community organizations, especially through CDC, will ensure that Americans can receive a safe and effective vaccine in record time," Azar said in a press release last month.
Meanwhile, the Centers for Disease Control and Prevention executed a contract with McKesson -- the company that distributes the annual flu vaccine -- to distribute the COVID-19 vaccine when it becomes available.
Trump, though, has exaggerated how quickly most Americans could receive it, suggesting it would be widely available by the end of the year or even sooner. Federal public health officials and outside experts say most Americans will not be able to get vaccinated until well into next year.
-ABC News' Arielle Mitropoulos and Sony Salzman
In the last question of the town hall, Stephanopoulos asked Biden if he expects next week's debate to happen and if he would demand that Trump test negative. Biden said he expects to be at that debate and that he believes Trump will take a COVID-19 test.
He also mentioned that he had taken a COVID-19 test earlier Thursday.
"I just think it's -- it's just decency. To be able to determine whether or not you are -- you're clear," Biden said. "I'm less concerned about me than the people, the guys with the cameras, the people working in the, you know, the Secret Service guys you drive up with, all those people."
"I'm confident that the Cleveland Clinic is the one overseeing it," he added. "I think they're going to not let happen, what happened last time. They're going to demand that it's safe."
