The president and vice president welcomed home Gen. Lloyd Austin, the top U.S. commander in Iraq, at Joint Base Andrews Air Force Base.
They also witnessed the return of the U.S.-Iraq colors, the flag that was lowered in Baghdad last week. Under Army custom the flag will be retired and either stored or displayed.
Neither Obama nor Biden spoke at the ceremony.
The military tradition marked the conclusion of the nine-year conflict. The last U.S. troops withdrew from Iraq on Sunday.
Nearly 4,500 Americans were killed, 32,000 were wounded. The conflict cost around $800 billion.
The Associated Press contributed to this story.