The pope makes his initial public appearance in five weeks after recovering from a serious respiratory infection.
Pope Francis left Rome's Gemelli hospital on Sunday after a five-week stay due to pneumonia.
This was his first public appearance since February 14, when he was admitted with a severe respiratory infection, considered the most serious health challenge of his twelve-year papacy.
As he exited the hospital, Francis, 88, was observed waving to supporters from a balcony just moments before his release.
He has been relying on a wheelchair for several years and appeared with a slightly puffy face.
Speaking briefly in a soft voice, he thanked a member of the crowd who offered him yellow flowers.
The Vatican’s medical team indicated that while the pope has been discharged, his recovery will take considerable time, recommending an additional two months of rest at the Vatican due to his delicate health.
During his hospitalization, Francis was publicly seen only once, with a photo released last week showing him praying in a hospital chapel.
As he got ready to leave, a convoy of police cars escorted him through Rome, while hundreds of supporters gathered outside, chanting his name in encouragement.