Trump is the 13th president to visit the Vatican and, as part of his tour, he will view the Sistine Chapel.
Trump's visit to the Vatican has been met with a number of smaller protests.
Following the meeting, Ivanka wrote on Instagram "It was an incredible honor to have an audience with His Holiness Pope Francis today".
After his visit to Saudi Arabia, home to Islam's holiest sites, and to Israel, this is the final leg of the tour of the world's three great religions.
To show you the depravity of the human heart, I'd rather join a séance with the handsome but evil Trump ladies than have an audience with Pope Francis.
The US leader began his foreign trip with a two-day stop in Saudi Arabia over the weekend, urging Muslim countries to take the lead in combating radicalisation.
Others chose to Photoshop the image after all.
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But I repeat Moses is an honest player and if there was this situation he was exhausted and he didn't want to cheat the referee". Bundesliga giants Bayern Munich and Serie A champions Juventus have also been suggested as potential destinations.
Both men looked far more relaxed at the end of the private meeting, with the pope smiling and joking with Trump and his wife, Melania. He's been known to be highly sympathetic to the LBGTQ community as well as outspoken on a number of "scientific" issues like climate change.
The pope's interpreter could be heard translating a comment by the pope to the Slovenian-born First Lady: "What do you give him to eat?"
"I am giving you this because I hope you may be this olive tree to make peace", the pope is said to have told Trump in Spanish.
Writings on family, the Christian Gospel, and the recent World Day of Peace message - personally signed - were among the Pope's other gifts to Trump, who gave the religious leader books by Martin Luther King, Jr.
Asked about Spicer not being included in the group that met the Pope, a source close to the White House said: "Wow".
Traveling as a couple can be stressful, and the first lady and her husband aren't immune to that, five-star hotels and Secret Service and all.
Significant protests are also expected in Brussels where he will meet European Union and North Atlantic Treaty Organisation officials.