The off-the-cuff remarks after the Angelus prayer were in contrast to Pope emeritus Benedict's style of theological sermonizing, the BBC reported.
The prayer came after Pope Francis' first Sunday mass, which was held in the Vatican's small parish church instead of St. Peter's Basilica.
Prior to entering the church, the pope took the time to greet well-wishers gathered outside a nearby gate shouting "Francesco," the BBC said.
Francis sent his first tweet as pontiff minutes after delivering the Angelus prayer.
"Dear friends, I thank you from my heart and I ask you to continue to pray for me. Pope Francis," the tweet read.