First pardoned Jan. 6 rioters released in DC

As President Joe Biden prepared to pass the baton to President-elect Donald Trump, he's followed the tradition of leaving his successor a note.

While Biden confirmed that he wrote Trump a letter, he did not say what his message was.

President Ronald Reagan started the ritual of leaving his successor a letter in 1989. Every president since has taken part in the tradition. But since Reagan's letter to Bush, each handover has been from a Democrat to a Republican or vice versa.

Former Vice President Mike Pence announced his plans to attend the inauguration.

"Today, I will attend the Inauguration of President Donald Trump and Vice President J.D. Vance at the U. S. Capitol," Pence wrote on X. "This is a day when every American does well to celebrate our democracy and the peaceful transfer of power under the Constitution of the United States."

Pence was seen arriving at the U.S. Capitol at around 9:30 a.m.

Trump and Vance have had a contentious relationship and did not interact publicly for four years after Pence broke with Trump by refusing to reject the 2020 election results.

– ABC News' Oren Oppenheim

As Trump exited his limousine, Biden said to him: "Welcome home."

Trump walked up the steps with Melania Trump and they shook hands with the Bidens.

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Donald, Melania Trump visit the Bidens at the White HouseThe president-elect and his wife were greeted by Joe Biden and first lady Jill Biden.

ABCNews.com

Trump has arrived at the White House, where he will have tea with President Biden.

The two men will later ride together to the U.S. Capitol for Trump's swearing in.

Trump's return caps what has been a remarkable political comeback unlike anything in American history.

This isn't Trump's first time back at the White House. Biden invited him for an Oval Office meeting days after his victory in November.