Donald Trump has left the White House after four years as US president, but insisted: “We will be back in some form.” The outgoing president is heading to his Mar-a-Lago resort in Florida as he boycotts Joe Biden’s inauguration ceremony in Washington DC.

Before boarding Air Force One, Mr Trump told supporters it had been “an incredible” four years and thanked his family, as his daughter Tiffany watched on, shedding some tears.

“As the athletes would say, we left it all on the field,” he said.

“It has been my greatest honour and privilege to have been your president.”

Mr Trump also wished the new administration “great luck and great success” – but said: “We will be back in some form.”

Earlier as he walked out of the White House, Mr Trump said: “I just want to say goodbye but hopefully it’s not a long-term goodbye. We’ll see each other again.”

He added: “It’s been a great honour, the honour of a lifetime.”

Mr Trump is the first president to skip his successor’s inauguration since Andrew Johnson in 1869, and only the fourth to have done so in history.

He did, however, follow at least one presidential tradition, with the White House confirming Mr Trump left a note for Mr Biden – although no further details about the message have been revealed.

Mr Trump held hands with First Lady Melania Trump as he walked across the lawn of the White House before waving as he boarded the Marine One helicopter.

The helicopter took him to Joint Base Andrews where Air Force One was waiting to take him to Florida. His send-off was complete with a red carpet up to the steps of the plane, a military band and a 21-gun salute.

Mrs Trump also spoke briefly at the event, saying: “Being your first lady was my greatest honour.”