Angus Mackinnon and Ella Ide
Trump's audience with the 80-year-old pontiff, a keenly-anticipated highlight of his first overseas tour, lasted just under half an hour and concluded with both men beaming, for the cameras at least.
Trump told his host as he left: "Thank you. Thank you. I won't forget what you said."
The pope had presented Trump with a medallion engraved with an olive tree, the international symbol of peace.
- History of spats -
A Vatican statement highlighted "the joint commitment in favour of life, and freedom of worship and conscience."
- Jumbo-sized SUV -
But there have also been conciliatory moves. In 2013, Trump tweeted that "the new pope is a humble man, very much like me" while Francis had promised to judge the man not the image.
Trump's Vatican visit was the third leg of his overseas trip, after stops in Saudi Arabia and Israel and the Palestinian territories.
With his poll numbers at a record low, he will be hoping for a boost after rubbing shoulders with the popular pope.