In a post on Twitter, Duda said: “I am looking forward to closely cooperating with you, Mr. President, on further strengthening the Polish-American Strategic Partnership.”
"God bless Poland and God bless America!" added Duda in a message posted in English.
US President Joe Biden kisses incoming First Lady Jill Biden after being sworn in on Wednesday. Photo: EPA/SAUL LOEB
America is an economic partner for Poland and its key military ally. Warsaw, long wary of Russia - its giant neighbour to the east - looks to Washington as a guarantor of Poland’s security.
Ahead of Biden’s inauguration, Poland’s ambassador to America said he hoped ties between Warsaw and Washington would be at least as good as they have been so far.
In an interview for public broadcaster Polish Radio, ambassador Piotr Wilczek said: "After talks with people in the new administration, I hope we will continue with projects, some of which started under [former US President Barack] Obama, such as strengthening the [American] military presence" in Poland.
As she was preparing to leave her post, the US ambassador to Warsaw, Georgette Mosbacher, said earlier this month that Polish-US relations were strong and likely to stay that way after Biden took office in Washington.
Looking back at her time in Warsaw, Mosbacher listed some of her accomplishments during her tenure as ambassador, saying: "We have strengthened the eastern flank of NATO by signing the Enhanced Defense Cooperation Agreement and establishing the 5th Corps Forward Command in Poznań," western Poland.