In what was the first time in history that the head of the Roman Catholic Church addressed a joint session of the U.S. Congress, Pope Francis on Thursday urged lawmakers to humanely embrace undocumented immigrants, abolish the death penalty, respect human life at all stages of development, save the planet from climate change and fight income inequality.

Francis, 78, who is on a six-day U.S. visit, cited scripture and appealed to the nation's founding ideals, delivering a message of hope and tolerance, and encouraging lawmakers to work together to solve the problems of ordinary Americans. Invoking the golden rule, found in the book of Matthew, Francis reminded lawmakers that it is essential to "treat others with the same passion and compassion with which we want to be treated," reported The Washington Post.

"Let us seek for others the same possibilities which we seek for ourselves. Let us help others to grow, as we would like to be helped ourselves," the pontiff said. "In a word, if we want security, let us give security; if we want life, let us give life; if we want opportunities, let us provide opportunities. The yardstick we use for others will be the yardstick which time will use for us. The Golden Rule also reminds us of our responsibility to protect and defend human life at every stage of its development."

Francis also called for the ending of conflicts around the world and criticized the global arms trade that fuels the fire. "Why are deadly weapons being sold to those who plan to inflict untold suffering on individuals and society? Sadly, the answer, as we all know, is simply for money: money that is drenched in blood, often innocent blood. In the face of this shameful and culpable silence, it is our duty to confront the problem and to stop the arms trade," Francis said.

In attendance were some 500 lawmakers, including Vice President Joe Biden, and four Supreme Court justices, according to NPR.

Francis praised America's devotion to freedom and religion but also warned that the country's expansive resources require a deep sense of moral responsibility and cautioned against extremism.

"All of us are quite aware of, and deeply worried by, the disturbing social and political situation of the world today. Our world is increasingly a place of violent conflict, hatred and brutal atrocities, committed even in the name of God and of religion," Francis said. "We know that no religion is immune from forms of individual delusion or ideological extremism. This means that we must be especially attentive to every type of fundamentalism, whether religious or of any other kind. A delicate balance is required to combat violence perpetrated in the name of a religion, an ideology or an economic system, while also safeguarding religious freedom, intellectual freedom and individual freedoms."

Addressing the role of capitalism in the world, an economic system he previously described as "the dung of the devil," Francis acknowledged that "business is a noble vocations, directed to producing wealth and improving the world."

"It can be a fruitful source of prosperity for the area in which it operates, especially if it sees the creation of jobs as an essential part of its service to the common good," he added.

Following his speech on Capitol Hill, Francis made a stop on the Capitol's West Front, overlooking the National Mall, and then headed to St. Patrick's Catholic Church, where he was scheduled to have lunch with the homeless. He will then head to New York, where he will take a tour through Manhattan on his popemobile and lead prayers at St. Patrick's Cathedral this evening, according to USA Today.

Watch the pope's full speech below: