Mr Biden was welcomed to Paris by a parade from the Arc de Triomphe, along the Champs-Élysées to the Élysée Palace.
He met military veterans and watched pipers and mounted cavalry process towards the palace.
It is unusual for an American leader to spend so long outside of the country in the months leading up to a presidential election, although Mr Biden has used the trip to make coded references to Donald Trump, his Republican rival.
On Friday, he gave a speech from Pointe du Hoc, the site of American troop landings on D-Day, and warned of the threat of authoritarianism abroad and in the United States.
His approach is in sharp contrast to that of Mr Sunak, who attended D-Day commemorations on Thursday morning but left Lord Cameron, the Foreign Secretary, to deputise for him at the main event on Omaha beach in the afternoon.
Neither leader made reference to Mr Sunak’s absence on Saturday but Mr Macron told Mr Biden: “Our veterans and those of all the allies were honoured by your presence and that of other leaders on June 6.”
Mr Biden said in return that France was America’s “oldest ally” and that US independence “would not have been possible” without the assistance of France in its war against Britain.
“We’re a nation because of France, in large part [because] you stepped up when we needed help, and you did it,” he said.