WASHINGTON – In his inaugural address Jan. 20, President Joe Biden said he is committed with his "whole soul" to bring the country together.

He pleaded with Americans – having come through a bitter election, a time of racial reckoning and still in the midst of a deadly pandemic – to similarly take up this cause.

"It's time for boldness because there is so much to do," Biden said in a 21-minute speech, urging Americans to work together for unity in this historic moment and stressing that the "American story depends not on some, but all."

The United States' second Catholic president also urged the nation to recognize that the American story is one of hope, not fear, light, not darkness, and said "democracy has prevailed" despite efforts to shut it down just two weeks previously in the Capitol riots, which took place when Congress was confirming the election results.

On a cold, breezy but sunny day, President Biden spoke with a somber sense of urgency reminding the crowd present – which was small due to both the pandemic and the security lockdown – that "we have come so far, but still have far to go."

Mixing realism with hope, he said there is much to repair and much to restore but added: "We will press forward."

And referring to the deep divide within the country, the 46th president said sternly: "We have to be better than this" and promised that democracy will not be driven out as Americans strive to end this "uncivil war that pits us against each other."

The president called for a moment of silence for all those who had died during the COVID-19 pandemic. He also spoke of the destructive nature of racism and the need to reject political extremism and manufactured facts.

"I will be president for all Americans," he added, referring to those who voted for him and those who didn't.

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Biden was sworn in by Chief Justice John Roberts using the family Bible he has used many times before: twice when being sworn in as vice president and seven times as a senator from Delaware. It also was used by his son Beau in his swearing-in ceremony as Delaware's attorney general.

He said in an interview in December with talk show host Stephen Colbert that this Bible has been a family heirloom since 1893.

The inauguration's invocation was led by Jesuit Father Leo O'Donovan, former president of Georgetown University and current director of mission for Jesuit Refugee Service. The priest, a friend of the Biden family, was the main celebrant at the funeral Mass for Biden's son Beau in 2015.

In his prayer, the priest quoted Pope Francis and stressed the need to care for one another "in word and deed, especially the least fortunate among us."

Another Jesuit priest, Father Kevin O'Brien, president of Santa Clara University in California, gave the homily at a Mass in St. Matthew Cathedral in Washington just before the inauguration. The Mass was attended by Biden, now-Vice President Kamala Harris, family members and some members of Congress from both sides of the aisle.

Though U.S. presidents usually begin Inauguration Day with a religious service in St. John's Episcopal Church, a stone's throw from the White House, Biden along with Republican and Democrat congressional leaders, began the day in the church that serves as the seat of the Archdiocese of Washington. The venue was the setting for the funeral of the first Catholic president, John F. Kennedy, after he was assassinated in 1963.

In his homily, Father O’Brien also spoke of the need for healing and said the President and Vice President will lead this country forward.

"Every day, you will strive to heal our nation's wounds and reconcile differences and bring us together. You know too well the challenges ahead and the cost of service," the priest said. "My deepest prayer for you today, as a priest, citizen and friend, is that you always remember that the Lord is near and no matter the sound and fury around you, that God wants to give you peace, a deep-seated peace that will sustain you."

"Before all the activities of this wonderful day, we quiet ourselves and ground ourselves in the faithful love of God and love we have for one another," said Father O'Brien.

"This day, when we emphasize national unity, we welcome people of all faith traditions and all political preferences, for we are all sons and daughters of God and we all need to say thank you to the God who has been so, so good to us and to our country. And we also need to rely on God's help, God's encouragement," the priest said.

Though the St. Matthew's Mass was not open to the public, a short video from part of the Mass was posted online by PBS News Hour featuring the voice of Father O'Brien.