"No one imagines that this painful situation will be resolved swiftly, " Benedict said in his letter.
While standing before the bishop of Assisi, Francis stripped off his clothes and renounced his paternal inheritance, Benedict said.
CNN: St. Francis of Assisi: 'A great, great figure in the church'
"The ruinous state of the building was a symbol of the dramatic and disquieting situation of the church herself, " Benedict said.
CNN: St. Francis of Assisi: 'A great, great figure in the church'
Benedict said Monday he was stepping down because he simply no longer had the strength in mind or body to carry on.
He went to Rome in 1209 to propose to Pope Innocent III a plan for a new form of Christian life, Benedict said.
CNN: St. Francis of Assisi: 'A great, great figure in the church'
"As you know, I have decided to renounce the ministry that the Lord gave to me on April 19, 2005, " Benedict said, to warm applause.
Addressing the faithful Wednesday in his weekly general audience, Benedict said he was stepping down for the good of the Roman Catholic Church and thanked them for their prayers.
Abusive priests had "disfigured their ministry" and brought "profound shame and regret" on the church, Benedict said in 2010, the same year he issued new rules aimed at stopping abuse.
Both leaders looked back to the visit by the late Pope John Paul II 14 years ago, which Pope Benedict said "was like a gentle breeze that gave new strength to the Church in Cuba".
"Strength of mind and body are necessary, strength which in the last few months has deteriorated in me to the extent that I have had to recognize my incapacity to adequately fulfill the ministry entrusted to me, " Benedict said when he announced his retirement this month.
This was the start of the long list of popes named Leo, Gregory and Benedict, said Melloni.
CNN: What's in a name? Clues to be found in next pope's moniker
Pope Benedict XVI said his thoughts were with those affected, as well as others facing natural disasters, IRNA reported.
Benedict had said earlier that granting Turkey EU membership would be a mistake.
Benedict XVI said many times that abusers should be prosecuted, but was accused by SNAP and other victims' groups of doing too little.
Instead, Benedict has said his task will be prayer and reflection.
"He was a true and courageous prophet of peace who struggled strenuously and bravely, first to avoid the drama of war and then to limit its terrible consequences, " Benedict XVI said.
CNN: What's in a name? Clues to be found in next pope's moniker
However, Francis' first public appearance as pope -- when he appealed for the crowds to pray for him before he gave a blessing -- suggested a "different pastoral style" to that of the more academic approach of Benedict, said Lombardi.
Lombardi said Benedict would eventually return to the Vatican and live at a monastery inside the Vatican gardens.
When he was asked what he'd call himself, he said Benedict - he must have thought about it beforehand.
BBC: Papal conclave: Cormac Murphy-O'Connor's insider's view
He said Benedict had decided to retire last April after his taxing but exhilarating trip to Mexico and Cuba in March.
The Vatican does not yet know when cardinals will meet in a conclave to decide who will replace Benedict, Lombardi said.
Pope Benedict has repeatedly said words did not reflect his personal views, but stopped short of issuing a clear apology to Muslims.
BBC: Pope resigns: Sunni authority al-Azhar eyes better ties
Vatican officials have said Benedict may authorize giving the report to the 116 cardinals who will elect his successor, so they can factor it into their deliberations.
The Vatican said Benedict was at the helipad in the villa gardens to welcome Francis, and that the two were meeting in Benedict's library and having lunch together.
While Cardinal Bergoglio hadn't been named among the favorites ahead of the conclave, he was an early favorite in voting during the 2005 conclave that elected Benedict XVI, said one cardinal who had been present then.
"Strength of mind and body are necessary, strength which in the last few months has deteriorated in me to the extent that I have had to recognize my incapacity to adequately fulfill the ministry entrusted to me, " said Benedict, 85, according to the Vatican.
"Justice can take a long time sometimes, but it's certainly worth the effort, " said prosecutor Benedict after the verdict.
"It's tragic that Pope Francis is asking a top aide to stay on the irresponsible path charted by Pope Benedict, " she said.
Bishop Benito Cocchi began by reading out the telegram of condolences sent by Pope Benedict XVI, who said Pavarotti honored the divine gift of music.
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