Mr. Obama and Vice President Joe Biden attended a prayer service at the National Cathedral Tuesday morning with their wives. Rev. Adam Hamilton, senior pastor at the United Methodist Church of the Resurrection in Leawood, Kan., delivered the sermon, and children from the Washington Performing Arts Society's Children of the Gospel Choir sang.
The 106-year-old cathedral has traditionally been the home of presidential inaugural services.
Tuesday night, Lady Gaga will perform at a private ball for the president and his staff.
At the Inaugural Ball on Monday night, Alicia Keys sang her hit song "Girl on Fire," but tweaked the words to honor the president with "Obama is on Fire." At the Commander in Chief's Ball earlier that evening, Jennifer Hudson serenaded Mr. Obama and first lady during their first dance.
There was plenty of celebration throughout the day and the president even stopped to take in the moment after his second and final inaugural address. In the speech, Mr. Obama was much bolder in his agenda than he was four years ago, talking about the need to change with the times. And for for the first time in an inaugural speech, Mr. Obama explicitly mentioned gay rights.
"Our journey is not complete until our gay brothers and sisters are treated like anyone else under the law - for if we are truly created equal, then surely the love we commit to one another must be equal as well," he said.
The president also spoke about climate change, equal pay for women, immigration reform and gun control, subjects that appealed to the more socially liberal coalition that re-elected him.
Some republicans felt Mr. Obama's inaugural speech was too partisan. With divided government, the president will need gop support to pass his big agenda items.
Despite the lingering celebrations, Washington will be back to work quickly. The House has scheduled a vote Wednesday to raise the debt ceiling.
Mr. Obama was officially sworn-in to begin his second term on Sunday, in keeping with the Constitution's mandate that presidents begin their new term on Jan. 20. But because inaugural ceremonies are historically not held on Sundays, the public celebration was pushed to Monday, coinciding with the birthday of late civil rights leader Martin Luther King Jr.
Stay with ABC7 for special coverage of the inauguration. Eyewitness news anchor David Ono is in Washington. Look for his reports on Eyewitness News or get the latest by following him on Twitter and Facebook.
The Associated Press contributed to this report.