"This man was not content with being healed by his faith, but brought that healing to completion by returning to express his gratitude for the gift received," he said, adding that to be able to give thanks and praise the Lord for what he has done for us "is important!"
"How many times do we say 'thank you' in our family, our community, and in the Church? How many times do we say 'thank you' to those who help us, to those close to us, to those who accompany us through life?" he asked, noting that often times "we take everything for granted," even with God.
Pope Francis stressed that amid our own shortcomings, "we are given a model, indeed the model, to whom we can look: Mary, our Mother," who gave thanks to God in her "Magnificat."
It takes humility to be able to give thanks to God, he said, explaining that the heart of Mary "more than any other, is a humble heart, capable of accepting God's gifts."
"In order to become man, God chose precisely her, a simple young woman of Nazareth, who did not dwell in the palaces of power and wealth, who did not do extraordinary things," he said, and urged those present to ask themselves whether or not they are able to receive what God offers.
"Let us ask ourselves if we are prepared to accept God's gifts, or prefer instead to shut ourselves up within our forms of material security, intellectual security, the security of our plans," he said.
The Pope noted how despite being far from home and estranged in a foreign land, Mary was able to overcome her difficulties thanks to her faith.
He closed his homily praying that all, like Mary, "may always come back to Jesus and express our thanks for the many benefits we have received from his mercy."
After Mass, Pope Francis greeted all those who came to Rome for the Marian Jubilee, and offered some words of comfort and solidarity to those suffering due to the Hurricane Matthew before leading pilgrims in the traditional Angelus prayer.
"I have learned of the serious consequences caused by the hurricane which in recent days has hit the Caribbean, in particular Haiti, leaving numerous victims and displaced persons, as well as material damage," he said.
Francis assured his prayer and closeness to those affected, and voiced his confidence in the solidarity of the international community, Catholic institutions and of all people of good will, inviting them to unite "to my prayer for these brothers and sisters, so sorely tested."
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Elise Harris was senior Rome correspondent for CNA from 2012 to 2018.