The former head of the Catholic Church says he has no regrets and believes history will vindicate him.
Pope Benedict will live out his retirement in a restored convent in the Vatican gardens.
Pope Francis urges the Catholic Church to return to its Gospel routes.
The world has welcomed Pope Francis as a humble champion of the poor.
Cardinals locked in the Sistine Chapel have failed twice to elect a new pope.
After a first inconclusive vote, Cardinals began the process of choosing a new pope in earnest today.