He challenged church leaders to not hide behind their own privilege and careers.
Francis moves around the Vatican in a Ford Focus and tends to stick with economy cars when traveling.
He drove from the airport to the capital's south side in an open-air popemobile waving to the crowds lining the route.
According to the papal agenda, President Enrique Peña Nieto and Pope Francis will hold a private meeting in a few minutes.
Here are five things to know about Francis' trip to the largest Spanish-speaking Catholic country in the world.
The pope will visit Mexico City, celebrate Mass with indigenous communities in Chiapas, speak with young people in Morelia, the capital of violence-torn Michoacán state, and visit prison inmates in Ciudad Juárez.
Ecatepec, in the State of Mexico, is the most polluted.
The U.S. Vice President will lead a delegation for the U.S.-Mexico High Level Economic Dialogue.
The NFL will return to Mexico for the first time since 2005 for the game on Nov. 21 at the Azteca Stadium during the 2016 regular season.
The "Land of Hope" is an interactive display of installations including a stamp set with messages of peace and broken plates that can be put together.