Kamala Harris became the first woman and first person of black and Indian origin to be sworn in as the Vice President

Joe Biden was sworn in as the 46th President of the United States of America, with Kamala Harris taking oath as the Vice President, at an impressive inauguration ceremony on Wednesday.

"This is America's day," the 78-year-old Biden said as he became the oldest President in US history after being sworn in by Chief Justice John G Roberts Jr.

Harris, on the other hand, is the first woman and first person of black and Indian origin to serve as the Vice President.

Before the inauguration ceremony, Joe Biden attended a service at Washington's Cathedral of St Matthew the Apostle with incoming first lady Jill Biden.

"It's a new day in America," Biden tweeted, shortly after President Donald Trump flew out of Washington hours before the swearing in of his successor, marking the end of a tumultuous four-year term in office.

"For the people—always," said Harris on Twitter.

The inauguration ceremony saw heavy security in and around the US Capitol, weeks after the violent assault by Trump supporters.

Those who attended the ceremony included former US President Barack Obama and his wife Michelle Obama; former President George W Bush and his wife Laura; and former President Bill Clinton and former Secretary of State and wife Hillary Clinton.

On Tuesday night, Biden and Harris had paid homage to all the people who have lost their lives due to Covid-19.

"Tonight, in Washington, D.C. and across the nation, we came together to honor the over 400,000 Americans we’ve lost to COVID-19. The last year has tested us in unimaginable ways, but now it’s time we begin to heal and overcome — together," Biden said in a post on Twitter.

"We gather together to pay tribute to the lives lost from COVID-19. A grandmother or grandfather who was our whole world. A parent, partner, sibling, or friend who we still cannot accept is no longer here. Tonight, we grieve and begin healing—together," Harris said on Twitter.