Joe Biden takes oath as 46th President of the United States

Democrat Joe Biden was sworn in as the 46th president of the United States on Wednesday ending the tumultuous four-year presidency of his Republican predecessor Donald Trump.

Kamala Harris made history on Wednesday when she was sworn in as Joe Biden's vice president, becoming the first woman, the first Black American and the first Asian American to hold the second highest US office.

The inauguration comes exactly two weeks after Trump supporters stormed the Capitol in a bid to disrupt the certification by Congress of Biden's November election victory. Among those attending the ceremony are former presidents Barack Obama, George W. Bush and Bill Clinton.

Republican President Donald Trump left the White House on Wednesday with his wife Melania and went by helicopter to a sendoff event at Joint Air Force Base Andrews, where he promised supporters "we'll be back in some form" and extolled his administration's successes before flying off to Florida.