
The pontiff, 77, held multiple audiences in the morning, and participants said he seemed tired but appeared to be in good shape.
He was also due to celebrate Mass Sunday.
Vatican spokesman Federico Lombardi said there was no reason to worry about the pope's health.
Questions have been raised in recent weeks about Francis' condition.
In June, he dropped out of engagements two days in a row. The Vatican also said he would not celebrate morning Masses or hold weekly Mass audiences in July, and the pope did not lead the Corpus Christi procession this year in Rome.
Vatican officials said Francis has needed time to recover from a taxing trip to Israel and the Palestinian territories at the end of May.
DPA