The 88-year-old pontiff, who has recently been suffering from a cold, was pushed in a wheelchair up to the huge, ornate bronze door and knocked on it, before the doors opened.
Pope Francis has officially begun a year-long Jubilee celebration for the Catholic Church by opening the "Holy Door" of St. Peter's Basilica. This event is anticipated to attract 30 million pilgrims throughout the year.
The Jubilee is a special period of forgiveness and spiritual renewal celebrated by the Catholic Church.