The National Guard is on standby in the US capital with fears the swearing in service for Mr Biden could be a target of violence from supporters of Donald Trump. A dozen troops have even been pulled form their duties after fears they may be sympathetic to action targeting the Democrat.
In a rather different ceremony to usual, there are no crowds for the service, with Mr Biden giving his inaugural address in front of a 'field of flags'.
Voters have been urged to stay away due to the coronavirus pandemic and the guests to the ceremony have also been reduced in order to abide by social distancing.
One notable absence from the swearing-in service of the 46th President is his predecessor.
President Trump is steering clear of the ceremony and left the White House for the last time this morning.
It is the first time in over 150 years a living US President has not attended the inauguration of their successor.
The Republican has still not congratulated Mr Biden on his election win but did wish the new administration good luck.
In a farewell address released last night, he said: "This week, we inaugurate a new administration and pray for its success in keeping America safe and prosperous.
"We extend our best wishes, and we also want them to have luck - a very important word."
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1.38pm update: Joe Biden's plea for unity in the face of civil unrest
Joe Biden has vowed to "restore the soul of America," and will use his inaugural address to call for the country to come together.
The incoming President is planning to waste no time in getting on with his agenda, tackling the coronavirus crisis as a priority.
He is also planning to overturn a number of controversial Trump administration policies on day one, including scrapping the travel ban on some Muslim-majority countries.
1.30pm update: Trump gives leaving speech
Donald Trump has arrived at Joint Base Andrews where he is giving a goodbye speech.
He has thanked his family, including Melania Trump, who he invited forward to give her own farewell address.
She concluded: "God bless this beautiful nation."
Mr Trump said: "I hope they don't raise your taxes - if they do I told you so!"
1.25pm update: 'Hopefully not a long goodbye'
The 45th President hinted he is hoping for a return to the White House as he left.
He said it has been "a great honour" to be President and that he was hoping "it will not be a long goodbye".
1.20pm update: Trump leaves the White House ahead of the inauguration
Donald Trump has left the White House for the last time.
In front of a crowd of loyal staff, the President and his wife, Melania Trump, walked out onto the lawn and boarded the awaiting Marine One helicopter.
They are being flown to Florida, where Mr Trump intends to rest at his Mar-a-Lago resort.