Joe Biden told Donald Trump "may God bless you and guide you" in a letter he left in the Resolute Desk of the White House before his exit.

President Trump revealed Tuesday night that former President Joe Biden left him an “inspirational” message before leaving the Oval Office for the last time.

US President Donald Trump has shared the contents of a letter that his predecessor Joe Biden left in his Oval Office desk this week. Mr Trump had to be reminded of the long-held tradition that departing presidents tend to leave letters to their successor when he returned to office on Monday.

Former President Joe Biden wrote a short letter to his successor, President Donald Trump, in which he told the 47th president that people look to the White House for “steadiness in the inevitable storms of history.

Every president since Ronald Reagan has left a note for his successor, and President Biden is the first to write a letter to someone who is both his successor and the predecessor who left a note for him.

"Maybe we should all read it together," Trump told reporters upon finding Biden's letter. "Maybe I'll read it first and then make that determination."

"Join me tonight as I reflect on our progress and deliver my farewell address to the nation," President Joe Biden's X account posted, in part, on Wednesday.

Biden was the first president to find himself in the unique position of writing a letter to someone who is both his successor and the predecessor who left him a note four years earlier.

Donald Trump's feet are firmly back under the Resolute Desk, and he's returning to some of his favourite things from the first time round - here's some of the wild and unhinged things he did while you

Upon leaving the White House, Joe Biden left a letter addressed to his successor on the Oval Office desk. Fox News has revealed its contents. Trump showed the envelope with the letter on inauguration day while signing executive orders in the Oval Office.

"They were very minor incidents, and it was time," Trump told Fox News host Sean Hannity.