Donald Trump left a letter to his successor Joe Biden before leaving the White House, a continuation of the tradition of previous presidents.

White House spokesman Judd Deere on January 20 confirmed to AFP that Trump had left a letter for Biden.

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Trump and his wife spoke to reporters before boarding a helicopter to Andrews base on January 20 Photo: AFP

A CNN source also said that Melania had left a "brief welcome" for Jill Biden.

In his farewell speech at Andrews Base, Trump did not mention Biden's name but sent greetings to the "new administration".

American presidents have traditionally left letters of encouragement to successors, often in the Oval Office, even in the event that they have disagreements.

"There will be times when it is difficult and even more difficult when criticism comes when you may think it is unfair. I'm not really good at dealing with criticism to give you advice,

Trump and Obama also had a relationship "bad rice is not good soup, not sweet" in the 2016 election season. However, Obama still left in the drawer of Consistency table in the Oval Office a letter to Trump with the emphasis content.

"America's leadership in the international arena is truly indispensable. Through action and example, we must maintain the international order that has steadily developed since the end of the Cold War.

Joe Biden's inauguration will start at around 11:30 (23:30 Hanoi time) on January 20.