Francis started to drive away from the airport in the back of his Fiat before abruptly signaling his the driver to stop.
The pope got out of the car and walked over to a disabled boy. He leaned over the barricades and embraced the boy, holding him and extending a blessing. Then Francis blessed two nuns and the boy's family before getting back into his Fiat and driving off.
Francis' first stop in the City of Brotherly Love was to celebrate Mass at Cathedral Basilica of Saints Peter and Paul, where he touched on the history of the "beautiful Cathedral."
"I would like to think, though, that the history of the Church in this city and state is really a story not about building walls, but about breaking them down," he said in his homily. "It is a story about generation after generation of committed Catholics going out to the peripheries, and building communities of worship, education, charity and service to the larger society."
After Mass, Francis greeted worshipers, including several children in wheelchairs.
Francis will later goes to Independence Mall where he was expected to address immigrants. The pontiff ends his Saturday at the World Meeting of Families Festival.