President Donald Trump also took part in the APEC meeting.
It came as a surprise as the U.S. leader has been limiting public appearances on the global stage since his election defeat, having skipped the East Asia Summits.
The commander-in-chief also withdrew from speaking at an APEC CEO meeting earlier Friday.
The move is seen as part of efforts to assert his presidency amid global leaders sending congratulatory messages to Biden, while fending off domestic criticisms over his negligence of foreign affairs.
Trump is also set to participate in the G20 Summit over the weekend.