Pence politely nodded his head "hello" to the Obamas and the Clintons, who greeted the Pences after they were announced and exited the Capitol building.
Pence and former Second Lady Karen Pence, his wife, were formally introduced at the event, as were the former presidents in attendance.
Washington, D.C., Mayor Muriel Bowser previously asked the public to not attend the inauguration due to the ongoing COVID-19 pandemic and public safety concerns in the aftermath of the Capitol riot.
A senior administration official told CNN and The Hill last week that Trump and Pence spoke in the Oval Office on Jan. 11. They reportedly had gone days without speaking following the riots and previous tension regarding Trump's pressuring Pence to illegally use his position as vice president to overturn the 2020 election results.
Trump and his family were inside their private Mar-A-Lago club in Palm Beach, Fla., by the time Biden and Harris were sworn in Wednesday during a smooth, celebratory, and unprecedented inauguration ceremony.
Trump, 74, tweeted two days after the insurrection that he would not be attending the swearing-in of Biden, 78, and Harris, 56. After his election defeat in November, he repeatedly lied to the public by claiming the election had been stolen from him, making baseless claims of voter fraud.