Donald Trump's children weep during final Presidential speech

Donald Trump's children appeared to well up with tears as the former US President made his final speech before leaving for Florida.

Trump and his wife Melania departed the White House for the final time as President and First Lady on Thursday morning (NZ time).

The couple had decided not to attend Joe Biden's inauguration, instead taking Marine One to Joint Air Force Base Andrews in Maryland where they held a sendoff event for supporters.

"The things that we have done have just been incredible and we couldn't have done them without you," Trump told them.

"So just a goodbye. We love you. We will be back in some form. Have a good life we will see you soon."

JOINT BASE ANDREWS, MARYLAND - JANUARY 20: President Donald Trump and first lady Melania Trump arrive to speak to supporters prior to boarding Air Force One to head to Florida on January 20, 2021 in Joint Base Andrews, Maryland. Trump, the first president in more than 150 years to refuse to attend his successor's inauguration, is expected to spend the final minutes of his presidency at his Mar-a-Lago estate in Florida. (Photo by Pete Marovich - Pool/Getty Images)
Photo credit: Getty

Trump also thanked his family, who were in attendance, for their support during his time in office.

"This has been an incredible four years we have accomplished so much together," he said.

"I want to thank my family and my friends and staff and so many other people for being here. I want to thank you for your effort, your work. 

"People have no idea how hard this family worked, and they worked for you. They could have had a much easier life but they just did a fantastic job."

During the speech, Trump's children Ivanka, Eric, Donald Jr and Tiffany appeared to be overcome with emotion.

Video footage from the event shows Tiffany, who announced her engagement on Wednesday, watery-eyed while Ivanka scrunched up her face.

After the speech, the Trumps all boarded Air Force One where they headed to Mar-a-Lago resort in Florida for the final hours of the presidency.

At around 6am (NZ time) Biden and Kamala Harris were sworn into office in Washington DC.

During his first speech as President, Biden said that democracy had prevailed and called on Americans for unity.

"This is America's day. This is democracy's day," he said.

"America has been tested and America has risen… The people, the will of the people has been heard.

"I pledge this for you - I will be a President for all Americans and I promise I will fight as hard for those that didn't support me as those who did."