Trump inauguration live updates: Highlights from Trump's inaugural speech and swearing in

The peaceful transition of power is a hallmark of American democracy.

It's currently on display as Biden hosts Trump at the White House before they attend the inauguration together.

But four years ago, Trump denied Biden such a welcome. Instead, he bitterly left Washington hours before the inauguration while still refusing to concede he lost the 2020 election.

"The only president ever to avoid an inauguration is the guy that's about to be inaugurated," Biden had said when he confirmed he would be in attendance for Monday's events.

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.

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.