"[Trump's attendance will be] important in the sense that we are able to demonstrate the end of this chaos that he's created, that there is peaceful transfer of power with the competing parties standing there, shaking hands and moving on," Biden said, adding that such a move of Trump would not have any personal consequences for the president-elect.
The Democrat went on to say that he "really worries about the image we're presenting to the rest of the world", noting that it bothers him more than the impact on the domestic politics.
The inauguration is scheduled to take place on 20 January, after the official results of the US election are declared as Congress counts the electoral votes on 6 January.
Biden's remarks come as Donald Trump continues to claim massive voter fraud during the 3 November election and refuses to concede, slamming the projections made by the mainstream media that see the Democratic candidate as the winner of the presidential race.
Despite his campaign's efforts to legally challenge the election outcome, Trump agreed to launch the formal process of power transition to Biden.