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The 15-page apostolic letter, Desiderio Desideravi, was published on the Solemnity of Saints Peter and Paul.
The 85-year-old pope has used a wheelchair for many of his public audiences for nearly two months.
Pope Francis read a "Missionary Sending of Families" after Mass in St. Peter's Square.
Cardinal Kevin Farrell made the announcement at the end of Mass for the 10th World Meeting of Families, which will end on June 26.
"How many people lack the greatest freedom of all, which is interior freedom," Pope Francis said at Mass in St. Peter's Square.
The Blessed Virgin Mary never allowed herself to be “paralyzed by pride or fear,” but she arose and went with haste to humbly offer a helping hand, the pope told young Catholics on Saturday.
The pope was speaking to seminary formators from the Milan archdiocese.
The pope wrote the preface of a new Vatican document for priests working with engaged couples.
The 85-year-old pope noted that he needed to walk with a cane.
The pope made the remark in his message for the 2022 World Day of the Poor.
The 85-year-old pope has made public appearances in a wheelchair since May 5.
Pope Francis said he hoped the soldiers' time in Rome was spiritually fruitful.
Pope Francis also spoke about the challenges facing families today.
The pope was speaking to members of the Pontifical Ecclesiastical Academy.
Pope Francis has encouraged the leadership of the Catholic Diocese of Ondo in Nigeria and the people of God there to remain faithful to the Gospel message, which they need to continue defending with courage.
The pope was speaking to participants in an international conference on education.
The month of June is dedicated to the Sacred Heart of Jesus.
The pope was speaking at the general audience in St. Peter’s Square.
The 2nd World Day for Grandparents and the Elderly will take place on July 24.
The pope dedicated his general audience address to the Book of Ecclesiastes.