"This American carnage stops right here, and stops right now," he said.
President Trump pleaded with Americans to look to the future and promised to put "America first" economically and in foreign policy.
"Every decision on trade, on taxes, on immigration, on foreign affairs will be made to benefit American workers and American families," he said. "We must protect our borders from the ravages of other countries making our products, stealing our companies, and destroying our jobs."
He promised to "get our people off of welfare and back to work, rebuilding our country with American hands and American labor."
Regarding foreign policy, Trump promised to "unite the civilized world against radical Islamic terrorism which we will eradicate completely from the face of the earth."
And the new president cited the Bible in promoting a "solidarity" among Americans, albeit one first rooted in patriotism and "allegiance" to the country.
"At the bedrock of our politics will be a total allegiance to the United States of America, and through our loyalty to our country, we will rediscover our loyalty to each other," he said. "When you open your heart to patriotism, there is no room for prejudice."
"The Bible tells us how good and pleasant it is when God's people live together in unity. We must speak our minds openly, debate our disagreements honestly, but always pursue solidarity." He promised that America "will be protected by God."
"A new national pride will stir ourselves," he said, "and heal our divisions."
"Whether we are black or brown or white, we all bleed the same red blood of patriots. We all enjoy the same glorious freedoms, and we all salute the same American flag."
Cardinal Donald Wuerl of Washington, D.C., in a blog post on Friday, quoted from the "Prayer for Government" written by the first bishop in the U.S., Bishop John Carroll, for the first president George Washington, in 1791, in his prayer for the Inauguration.
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"We pray Thee O God of might, wisdom, and justice, through whom authority is rightly administered, laws are enacted, and judgment decreed, assist with Thy Holy Spirit of counsel and fortitude President Donald Trump of these United States, that his administration may be conducted in righteousness, and be eminently useful to Thy people over whom he presides; by encouraging due respect for virtue and religion; by a faithful execution of the laws in justice and mercy; and by restraining vice and immorality."