The Vice president-elect received a big round of applause as she arrived at the Capitol accompanied by her husband, Douglas Emhoff, who will be known as the Second Gentleman.
She was lad up the stairs of the Capitol by Eugene Goodman, who protected the lives of senators on January 6 when a mob of rioters breached the Capitol building in Washington.
Mr Goodman is now the new acting deputy House Sergeant at Arms.
Ms Harris made history as she became the first woman to become vice president after she was sworn in by Justice Sonia Sotomayor.
The former US senator from California is also the first black person and first person of South Asian descent elected to the vice presidency and is the highest-ranking woman ever to serve in government.
With heightened security and a lack of crowds because of the threat of the coronavirus pandemic, Mr Biden and Ms Harris’ ceremony will differ from the usual lavish affairs.
He will not be applauded by his predecessor who flouting tradition, left the White House on Wednesday morning ahead of the inauguration, instead of accompanying his successor to the Capitol.
“Have a good life, and we will see you soon,” said Donald Trump before boarding Air Force One to fly to his beach home in Florida.
The theme of Mr Biden’s approximately 30-minute speech will be America United, and aides said it would be a call to set aside differences during a moment of national trial.
Mr Biden will then oversee a Pass In Review, a military tradition that honours the peaceful transfer of power to a new commander in chief.
Then, Mr Biden, Ms Harris and their spouses will be joined by a bipartisan trio of former presidents — Bill Clinton, George W. Bush and Barack Obama — to lay a wreath at the Tomb Of The Unknown Soldier at Arlington National Ceremony.
Later, Mr Biden will join the end of a slimmed-down inaugural parade as he moves into the White House.
Because of the pandemic, much of this year’s parade will be a virtual affair featuring performances from around the nation.