Without this understanding of the mystery, the Church will just be a "pious association" of rules, lacking in adoration of God, he said.
"To enter into the mystery is not dreaming; to enter into the mystery is precisely this: to worship."
Francis added that "to enter the mystery is doing today what we will do in the future, when we arrive in the presence of God: worship."
"May the Lord give the Church this grace," he prayed.
Pope Francis' daily Masses are being livestreamed during the coronavirus emergency.
At the end of Mass, the pope invited everyone following along through the internet or TV to make a spiritual communion with him.
"I adore you in the Sacrament of Your love, I wish to receive you in the poor abode which my heart offers you," he prayed.
"In anticipation of the happiness of sacramental communion, I want to possess you in spirit. Come to me, O my Jesus, that I come to you. May Your love inflame my whole being, for life and death. I believe in you, I hope in you, I love you."
He then led Eucharistic adoration and gave benediction.
Pope Francis' March 19 Mass was offered for prisoners during the coronavirus outbreak.
"They suffer so much," he said, "because of the uncertainty of what will happen inside the prison, and also thinking about their families, how they are, if someone is sick, if something is missing."
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"We are close to prisoners today who suffer so much in this moment of uncertainty and pain," he said.