At 8am Donald Trump and his wife Melania will leave the White House for the last time, heading to Joint Base Andrews to fly on Air Force One to Florida.
The day for Mr Biden begins at 8.45am in Washington DC, or 12.45am AEDT, with a Catholic mass at the Cathedral of St Matthew the Apostle. Kamala Harris and top congressional leaders will also be in attendance.
The inauguration ceremony will begin at 11.15am DC time (3.15am AEDT).
Lady Gaga will sing the National Anthem, and 22-year-old poet Amanda Gorman will give a reading. A benediction will be given by Reverend Silvester Beaman of Bethel African Methodist Episcopal Church in Wilmington, Delaware.
Kamala Harris will be sworn in as Vice President by Supreme Court Associate Justice Sonia Sotomayor.
Then, at midday (4am AEDT), Mr Biden will be sworn in as the 46th president by Supreme Court Chief Justice John Roberts.
At 2.25pm (6.25am AEDT), Mr Biden and Ms Harris will join former presidents Barack Obama, George W Bush and Bill Clinton and their spouses to lay wreaths at the Tomb of the Unknown Soldier at Arlington Cemetery.
At 3.15pm (7.15am) Mr Biden will be escorted to the White House, and two hours later he will begin signing executive orders to begin his work as president.
At 8.30pm (12.30pm) a primetime special will air on the major networks in lieu of an inauguration ball. Performers include Bon Jovi, Justin Timberlake, Demi Lovato, Ant Clemons, Bruce Springsteen, John Legend and the Foo Fighters.
