Pope Francis speaks with ABC's David Muir at virtual audience event

LOS ANGELES (KABC) -- Pope Francis held a virtual audience Monday with people in three cities, including Los Angeles. It was an opportunity for the Pope to connect with Americans in a new way before he takes his first trip to the United States later this month.

ABC's David Muir moderated the historic event from the Vatican.

Watch Rob Hayes' report in the video above for exclusive insight on the sit-down meeting, and see more of the pope's exclusive conversation with ABC this Friday.

Pope Francis and the People, a one-hour special edition of 20/20, airs Sept. 4 at 10 p.m. ET | 9 p.m. CT on ABC.